F32137 — Encoder 2: Fault when determining the position (single turn)

F32137 is raised when the DRIVE-CLiQ encoder connected as Encoder 2 runs into a fault while determining its position over a single turn. The S120/S150 manual titles it "Fault when determining the position (single turn)", the G130/G150 manual "Internal fault when determining the position" — both describe the same event: a position determination fault has occurred inside the DRIVE-CLiQ encoder. Which internal function actually failed is not fixed; it is coded bit by bit in the fault value and depends on the encoder version fitted. The drive trips — how it trips depends on the drive object and the operating mode — and the fault must be acknowledged before the drive can run again.

• A position determination fault has occurred in the DRIVE-CLiQ encoder on Encoder 2. The manuals name no other root cause — the concrete internal cause (signal monitoring, safety status display F1/F2, LED monitoring, temperature, memory, power supply, FPGA communication or similar) is coded bit by bit in the fault value.

1. Read the fault value of this fault in r0949 and interpret it in binary: the format is yyxxxxxx hex, where yy identifies the encoder version and xxxxxx is the bit coding of the fault cause.
2. Decode the cause bits for the encoder version found: the S120/S150 documentation covers the versions yy = 8, 11, 12 and 14; the G130/G150 documentation covers yy = 08 hex with bit 27 = 1.
3. If the encoder version is not described, contact the encoder manufacturer for more detailed information on the bit coding.
4. Determine the detailed cause of the fault from the decoded bits, and replace the DRIVE-CLiQ encoder if required.

• r0949 interpreted binary gives yyxxxxxx hex: yy = encoder version, xxxxxx = bit coding of the fault cause. The list below shows the bits that bear directly on the single-turn position; the manuals print further bits per version (safety status display F1/F2, multiturn, temperature, memory, power supply, FPGA communication).
• yy = 8 (0000 1000 bin): Bit 18 — single-step capability monitoring singleturn from the Safety channel.
• yy = 11 (0000 1011 bin): Bit 11 — position word 1 status bit, singleturn position OK (ADC_ready).
• yy = 12 (0000 1100 bin): Bit 8 — encoder fault; Bit 10 — error in the internal position data transport.
• yy = 14 (0000 1110 bin): position word 1, Bit 5 — timeout absolute value / error when determining the position (singleturn); position word 2, Bit 21 — position determination error (singleturn).
• G130/G150, yy = 08 hex (bit 27 = 1): Bit 1 — signal monitoring (sin/cos); Bit 8 — F1 (safety status display) fault position word 1; Bit 9 — F2 (safety status display) fault position word 2; Bit 16 — LED monitoring iC-LG (opto ASIC); Bit 17 — fault in the multiturn; Bit 23 — temperature outside the limit values.
• For an encoder version that is not described, contact the encoder manufacturer for the bit coding.

• r0949 (fault value) — for F32137 read it as a binary number: the upper part yy names the encoder version fitted, the lower bits give the concrete fault cause on Encoder 2.

Rectify the cause first, then acknowledge the fault — acknowledgement is only accepted while the converter is pulse-inhibited, i.e. producing no output pulses — and restart the drive.