F32110 — Encoder 2: Serial communications error

Encoder 2 — the second encoder evaluation of the drive object — reports that the transfer of the serial communication protocol between the encoder and the internal or external evaluation module is disturbed. The drive stores the fault cause in r0949; interpreted binary, each set bit names the concrete problem (see the bit list below). For an EnDat 2.1 encoder the decoding printed here applies; for an EnDat 2.2 encoder the manual describes the significance of the fault value under F3x135 (x = 1, 2, 3). Depending on the drive configuration, the same condition can also be output as an alarm (A) or as an N message; in these cases the drive takes no automatic action (NONE).

• Transfer error in the serial communication protocol between the encoder and the evaluation module (internal or external, depending on the drive object).

1. Read the fault value in r0949 and interpret it binary — the set bit selects the matching remedy in the following steps.
2. Bit 0 set (alarm bit in the position protocol): the encoder defect fault F31111 may provide additional details.
3. Bit 1 or bit 2 set (incorrect quiescent level on the data line, encoder does not respond): incorrect encoder type — replace the encoder or the encoder cable.
4. Bit 3 set (CRC error): EMC problem — connect the cable shield, or replace the encoder or the encoder cable.
5. Bit 4, 5 or 9 set (encoder acknowledgment error, internal error in the serial driver, receive buffer overflow): connect the cable shield; replace the encoder or the encoder cable; replace the Sensor Module.
6. Bit 6 set (timeout when cyclically reading): update the Sensor Module firmware.
7. Bit 7 or bit 14 set (timeout or fault for the register communication): incorrect encoder type — replace the encoder or the encoder cable.
8. Bit 8 set (protocol too long, e.g. > 64 bits): check parameterization p0429.2.
9. Bit 10 set (frame error when reading twice): check parameterization p0429.2 and p0449.
10. Bit 11 set (parity error): check parameterization p0436.
11. Bit 12 set (data line signal level error during the monoflop time): check parameterization p0429.6.
12. Bit 13 set (data line incorrect): check the data line.
13. Bit 15 set (internal communication error): the manual specifies no remedy for this bit.

• Bit 0: Alarm bit in the position protocol.
• Bit 1: Incorrect quiescent level on the data line.
• Bit 2: Encoder does not respond (does not supply a start bit within 50 ms).
• Bit 3: CRC error: The checksum in the protocol from the encoder does not match the data.
• Bit 4: Encoder acknowledgment error: The encoder incorrectly understood the task (request) or cannot execute it.
• Bit 5: Internal error in the serial driver: An illegal mode command was requested.
• Bit 6: Timeout when cyclically reading.
• Bit 7: Timeout for the register communication.
• Bit 8: Protocol is too long (e.g. > 64 bits).
• Bit 9: Receive buffer overflow.
• Bit 10: Frame error when reading twice.
• Bit 11: Parity error.
• Bit 12: Data line signal level error during the monoflop time.
• Bit 13: Data line incorrect.
• Bit 14: Fault for the register communication.
• Bit 15: Internal communication error.
• For an EnDat 2.2 encoder, the significance of the fault value is described for F3x135 (x = 1, 2, 3).

• r0949 — stores the fault cause of F32110; read it as a binary value to determine which of the bits 0–15 is set.
• p0429 — Encoder SSI configuration; check index 2 when bit 8 (protocol too long) or bit 10 (frame error) is set, and index 6 when bit 12 is set.
• p0449 — Encoder SSI number of bits filler bits; check it together with p0429.2 when bit 10 is set.
• p0436 — Encoder SSI parity bit; check it when bit 11 (parity error) is set.

Remove the cause that corresponds to the set bit in r0949 first. The drive's response is OFF1 (depending on the configuration another response can apply), which stops the drive and inhibits the pulses; acknowledge the code with PULSE INHIBIT and restart the drive. When the condition is configured as an alarm (A) or N message instead, the drive does not react automatically (NONE) and no acknowledgement is needed.