F32130 — Encoder 2: Zero mark and position error from the coarse synchronization

Encoder 2 reports this fault when, after the pole position has been initialized — via track C/D, Hall signals or the pole position identification routine — the zero mark is detected outside the permissible angular range, so fine synchronization is not carried out. How much deviation the drive accepts depends on the initialization path, and the fault value shows the position actually found. Depending on the drive configuration, the same condition can also be issued only as an alarm or without any reaction.

• The pole position was initialized using track C/D, Hall signals or the pole position identification routine, and the zero mark was then detected outside the permissible range.
• With initialization via track C/D (p0404) the drive checks whether the zero mark occurs in an angular range of +/-18 ° mechanical.
• With initialization via Hall sensors (p0404) or pole position identification (p1982) it checks whether the zero mark occurs in an angular range of +/-60 ° electrical.
• For distance-coded encoders, the test is carried out after passing 2 zero marks.
• Fine synchronization was not carried out.

1. Check that the encoder cables are routed in compliance with EMC.
2. Check the plug connections.
3. If the Hall sensor is used as an equivalent for track C/D, check the connection.
4. Check the connection of track C or D.
5. Replace the encoder or encoder cable.

• The message value holds the angular deviation, electrical: %1, and the angle, mechanical: %2.
• The fault value (r0949) is to be interpreted hexadecimal as yyyyxxxx hex.
• yyyy: determined mechanical zero mark position (can only be used for track C/D).
• xxxx: deviation of the zero mark from the expected position as electrical angle; scaling: 32768 dec = 180 °.

• p0404 — shows the effective encoder configuration, i.e. whether the zero-mark check behind this fault runs via track C/D or via the Hall signals.
• p1982 — selects the pole position identification; when this routine initializes the pole position, the drive expects the zero mark within +/-60 ° electrical.
• r0949 — read the fault value here as hexadecimal yyyyxxxx: the determined mechanical zero mark position and its deviation from the expected position as electrical angle.

Rectify the cause first: the drive accepts the acknowledgment only while the pulses are inhibited, and once acknowledged the drive can be powered up again. When the condition is configured to appear as an alarm or without a reaction, it does not stop the drive and requires no acknowledgment.