F32138 — Encoder 2: Fault when determining the position (multiturn)

F32138 means that the DRIVE-CLiQ encoder connected as Encoder 2 has signalled a fault from its internal multiturn position determination. The S120/S150 manual titles the code "Fault when determining the position (multiturn)", the G130/G150 manual "Internal error when determining multiturn information" — the condition described is the same: the encoder itself reports the fault, and the exact reason is coded in the fault value.

• A position determination fault has occurred inside the DRIVE-CLiQ encoder wired as Encoder 2; which internal encoder function raised it is shown by the set bit in the fault value.

1. Determine the detailed cause of the fault from the fault value: read it in r0949 as binary and identify the encoder version and the set bit.
2. If the analysis points to the encoder, replace the DRIVE-CLiQ encoder.

The drive puts the cause into r0949, to be interpreted as binary. The value has the form yyxxxxxx hex: yy identifies the encoder version, the remaining bits code the cause inside the encoder. The manuals decode versions 8, 11 and 14; the multiturn-related bits are:

• yy = 8: bit 17 — fault when determining the position (multiturn).
• yy = 11: bit 7 — rotation error counter.
• yy = 14: bit 1 for position word 1 and bit 17 for position word 2 — position determination error (multiturn).

Other set bits in the same value point to further encoder-internal conditions, for example signal monitoring, LED monitoring, temperature or the F1/F2 safety status displays. For an encoder version that is not described, the manual refers you to the encoder manufacturer for details of the bit coding.

• r0949 — fault value: read it as binary for this code to find the encoder version yy and the bit naming the encoder function that reported the multiturn fault.

Rectify the cause first; the fault is acknowledged with pulse inhibit active, i.e. the converter pulses are switched off, and the drive can then be restarted.