F32806 — Encoder 2: Initialization error

F32806 reports that the encoder configured as Encoder 2 (Sensor Module Encoder 2) was not successfully initialized: one of the steps that bring the encoder into service has failed, so the drive cannot use the position or speed of this encoder. The fault value stored in r0949 shows bit by bit which step failed. Depending on how the drive is configured, the same condition can also be output only as an alarm or as a message without any automatic drive response.

• The encoder was not successfully initialized. Which step failed is recorded in the fault value: a failed position check while the motor rotates, unsuccessful mid-voltage matching on one of the encoder's signal tracks or between two tracks, an internal fault in the sensor electronics, or a problem when initializing or reading out an EnDat 2.2 measuring unit.

1. Acknowledge the fault.
2. If the fault cannot be acknowledged, read the fault value in r0949 and go by the bits that are set.
3. Bits 2 ... 9 set: check the encoder power supply.
4. Bits 2 ... 14 set: check the cable belonging to the signal track named by the bit.
5. Bit 15 set and no other bit: check track R and check the settings in p0404.
6. Bit 28 set: check the cable between the EnDat 2.2 converter and the measuring unit.
7. Bits 29 ... 31 set: replace the defective measuring unit.

The drive stores the fault value in r0949. Each set bit names the step or signal track where the initialization failed:

• Bit 0, 1: Encoder initialization with the motor rotating has failed (deviation involving coarse and fine position in encoder pulses/4).
• Bit 2: Mid-voltage matching for track A unsuccessful.
• Bit 3: Mid-voltage matching for track B unsuccessful.
• Bit 4: Mid-voltage matching for acceleration input unsuccessful.
• Bit 5: Mid-voltage matching for track safety A unsuccessful.
• Bit 6: Mid-voltage matching for track safety B unsuccessful.
• Bit 7: Mid-voltage matching for track C unsuccessful.
• Bit 8: Mid-voltage matching for track D unsuccessful.
• Bit 9: Mid-voltage matching for track R unsuccessful.
• Bit 10: The difference in mid-voltages between A and B is too great (> 0.5 V).
• Bit 11: The difference in mid-voltages between C and D is too great (> 0.5 V).
• Bit 12: The difference in mid-voltages between safety A and safety B is too great (> 0.5 V).
• Bit 13: The difference in mid-voltages between A and safety B is too great (> 0.5 V).
• Bit 14: The difference in mid-voltages between B and safety A is too great (> 0.5 V).
• Bit 15: The standard deviation of the calculated mid-voltages is too great (> 0.3 V).
• Bit 16: Internal fault - fault when reading a register (CAFE).
• Bit 17: Internal fault - fault when writing a register (CAFE).
• Bit 18: Internal fault: No mid-voltage matching available.
• Bit 19: Internal error - ADC access error.
• Bit 20: Internal error - no zero crossover found.
• Bit 28: Error while initializing the EnDat 2.2 measuring unit.
• Bit 29: Error when reading out the data from the EnDat 2.2 measuring unit.
• Bit 30: EEPROM checksum of the EnDat 2.2 measuring unit incorrect.
• Bit 31: Data of the EnDat 2.2 measuring unit inconsistent.

Which bits can occur depends on the hardware revision of the sensor electronics: bits 0 and 1 belong to the earlier hardware, bits 2 ... 20 are evaluated from the later hardware revision onwards.

• r0949 — fault value: read here, bit by bit, which initialization step of encoder 2 failed and which check applies.
• p0404 — effective encoder configuration: if bit 15 is the only bit set, check the encoder settings here, especially the evaluation of track R.

Acknowledge the fault; this is the first remedy the manual gives. If the fault cannot be acknowledged or comes back, follow the checks above according to the bits set in the fault value.