F32905 — Encoder 2: Encoder parameterization error

F32905 tells you that the drive has identified an error in the parameterization of encoder 2. The typical situation is that the encoder type set in the drive does not match the encoder that is actually connected. The drive records which parameter is involved: the parameter number is in the fault value r0949 and the parameter index in p0187. Depending on how the drive is configured, the same condition can also be output as an alarm or as a message without a fault reaction rather than as this fault.

• An error was identified in the encoder 2 parameterization.
• It is possible that the parameterized encoder type does not match the connected encoder.

1. Check whether the connected encoder type matches the encoder that has been parameterized (encoder selection in p0400). If a code number for an identified encoder was entered without identification having been carried out, start a new encoder identification or select a listed encoder in p0400.
2. Determine the affected parameter: read the fault value r0949 interpreted decimal — the last four digits (xxxx) give the parameter number, the leading digits (yyyy) the supplementary information — and read the parameter index from p0187. Correct the parameter so identified.
3. If the parameter number is 314: check the pole pair number and the measuring gear ratio. The quotient of the pole pair number divided by the measuring gear ratio must be less than or equal to 1000 ((r0313 * p0433) / p0432 <= 1000).

The message value contains the parameter and supplementary information. The drive writes the same value into r0949; interpret it decimal as yyyyxxxx: yyyy = supplementary information, xxxx = parameter. For xxxx = 421: for an EnDat/SSI encoder, the absolute position in the protocol must be less than or equal to 30 bits. The supplementary information decodes as follows:

• yyyy = 0: No additional information available.
• yyyy = 1: The component does not support HTL level (p0405.1 = 0) combined with track monitoring A/B <> -A/B (p0405.2 = 1).
• yyyy = 2: A code number for an identified encoder has been entered into p0400, however, no identification was carried out. Please start a new encoder identification.
• yyyy = 3: A code number for an identified encoder has been entered into p0400, however, no identification was carried out. Please select a listed encoder in p0400 with a code number < 10000.
• yyyy = 4: This component does not support SSI encoders (p0404.9 = 1) without track A/B.
• yyyy = 5: For SQW encoder, value in p4686 greater than in p0425.
• yyyy = 6: DRIVE-CLiQ encoder cannot be used with this firmware version.
• yyyy = 7: For an SQW encoder, the XIST1 correction (p0437.2) is only permitted for equidistant zero marks.
• yyyy = 8: The motor pole pair width is not supported by the linear scale being used.
• yyyy = 9: The length of the position in the EnDat protocol may be a maximum of 32 bits.
• yyyy = 10: The connected encoder is not supported.
• yyyy = 11: The hardware does not support track monitoring.

• r0949 — fault value: read it interpreted decimal; the last four digits give the parameter number (xxxx), the leading digits the supplementary information (yyyy).
• p0187 — read here the index of the encoder parameter that the drive has found to be incorrect.
• p0400 — encoder type selection: compare the selected type / code number with the connected encoder; for yyyy = 2 or 3, run a new encoder identification or select a listed encoder with a code number < 10000.
• p0404 — effective encoder configuration: relevant when the supplementary information reports an SSI encoder without track A/B (bit 9).
• p0405 — square-wave encoder track A/B: check bit 1 (HTL level) and bit 2 (track monitoring A/B <> -A/B) when the supplementary information is 1.
• p4686 — zero mark minimum length: for an SQW encoder it must not be greater than the value in p0425.
• p0425 — encoder rotary zero mark distance: compare it with p4686 when the supplementary information is 5.
• p0437 — Sensor Module configuration extended: the XIST1 correction in bit 2 is only permitted for equidistant zero marks.
• r0313 — actual motor pole pair number: enters the gear-ratio check that applies when the parameter number is 314.
• p0433 — gearbox factor motor/load revolutions: enters the gear-ratio check.
• p0432 — gearbox factor encoder revolutions: enters the gear-ratio check; (r0313 * p0433) / p0432 must be <= 1000.

Once the parameter named by r0949 and p0187 has been corrected, acknowledge the fault — immediate acknowledgement is specified for this code — and restart the drive with the corrected encoder parameterization. Where the drive outputs the same condition only as an alarm or as a message without reaction, no acknowledgement is required.