F32136 — Encoder 2: Error when determining multiturn information

F32136 means that Encoder 2 has identified a fault while determining the multiturn position. The encoder reports its condition bit by bit in an internal status/fault word, and the drive triggers this fault as soon as one of the fault-triggering bits of that word is set; the other bits are only status displays. The complete status/fault word is stored as the fault value and can be read in binary in r0949. On G130 and G150 the manual titles the code "Encoder 2: Error when determining multiturn information", on S120 and S150 "Encoder 2: Fault when determining the position (multiturn)" — the condition described is the same.

• Encoder 2 has identified a position determination fault (multiturn) and signals this through its internal status/fault word; the set bits in the fault value identify the concrete condition.
• The multiturn bits 26 to 30 (multiturn position 1, multiturn position 2, multiturn system, multiturn power down, multiturn overflow/underflow) refer to the related fault F3x136 (x = 1, 2, 3).
• Bit 15 (internal communication error) refers to F3x110 (x = 1, 2, 3); for EnDat 2.2 encoders the bits 6 to 9 can additionally report a hardware fault or overcurrent/overvoltage of the EnDat supply, or that the encoder was withdrawn when not in the parked state.
• Further triggering bits refer to the singleturn fault F3x135 or to the temperature fault F3x405 (x = 1, 2, 3); the remaining bits of the word are status displays only.

1. Read the fault value in r0949 and interpret it in binary — the drive has stored the encoder's complete status/fault word there.
2. Match the set bits against the bit list below. The cross-references in brackets name the related fault code (F3x110, F3x135, F3x136, F3x405 with x = 1, 2, 3) whose description gives the detailed cause.
3. Replace the encoder if necessary.
4. If an EnDat 2.2 encoder was removed when not in the "Park" state: insert it again and then carry out a POWER ON (switch-off/switch-on) — this is necessary to acknowledge the fault.

Fault value (r0949, interpret as binary). For every bit the manual prints two designations: the first is valid for DRIVE-CLiQ encoders, the second for EnDat 2.2 encoders.

• Bit 0: F1 (safety status display)
• Bit 1: F2 (safety status display)
• Bit 2: Reserved (lighting)
• Bit 3: Reserved (signal amplitude)
• Bit 4: Reserved (position value)
• Bit 5: Reserved (overvoltage)
• Bit 6: Reserved (undervoltage)/hardware fault EnDat supply (--> F3x110, x = 1, 2, 3)
• Bit 7: Reserved (overcurrent)/EnDat encoder withdrawn when not in the parked state (--> F3x110, x = 1, 2, 3)
• Bit 8: Reserved (battery)/overcurrent EnDat supply (--> F3x110, x = 1, 2, 3)
• Bit 9: Reserved/overvoltage EnDat supply (--> F3x110, x = 1, 2, 3)
• Bit 11: Reserved/internal communication error (--> F3x110, x = 1, 2, 3)
• Bit 12: Reserved/internal communication error (--> F3x110, x = 1, 2, 3)
• Bit 13: Reserved/internal communication error (--> F3x110, x = 1, 2, 3)
• Bit 14: Reserved/internal communication error (--> F3x110, x = 1, 2, 3)
• Bit 15: Internal communication error (--> F3x110, x = 1, 2, 3)
• Bit 16: Lighting (--> F3x135, x = 1, 2, 3)
• Bit 17: Signal amplitude (--> F3x135, x = 1, 2, 3)
• Bit 18: Singleturn position 1 (--> F3x135, x = 1, 2, 3)
• Bit 19: Overvoltage (--> F3x135, x = 1, 2, 3)
• Bit 20: Undervoltage (--> F3x135, x = 1, 2, 3)
• Bit 21: Overcurrent (--> F3x135, x = 1, 2, 3)
• Bit 22: Temperature exceeded (--> F3x405, x = 1, 2, 3)
• Bit 23: Singleturn position 2 (safety status display)
• Bit 24: Singleturn system (--> F3x135, x = 1, 2, 3)
• Bit 25: Singleturn power down (--> F3x135, x = 1, 2, 3)
• Bit 26: Multiturn position 1 (--> F3x136, x = 1, 2, 3)
• Bit 27: Multiturn position 2 (--> F3x136, x = 1, 2, 3)
• Bit 28: Multiturn system (--> F3x136, x = 1, 2, 3)
• Bit 29: Multiturn power down (--> F3x136, x = 1, 2, 3)
• Bit 30: Multiturn overflow/underflow (--> F3x136, x = 1, 2, 3)
• Bit 31: Multiturn battery (reserved)

• r0949 — fault value: read it in binary to see which status bits of Encoder 2 triggered F32136.

Once the encoder condition reported in the fault value has been cleared, acknowledge the fault. The manual adds one special case for EnDat 2.2 encoders: An EnDat 2.2 encoder may only be removed and inserted in the "Park" state. If such an encoder was removed while not in the "Park" state, then after inserting the encoder again a POWER ON (switch-off/switch-on) is necessary to acknowledge the fault.