F33130 — Encoder 3: Zero mark and position error from the coarse synchronization

F33130 means that after the pole position of Encoder 3 was initialized, the zero mark was detected outside the permissible range, and fine synchronization was therefore not carried out. The pole position may have been initialized using track C/D, Hall signals or the pole position identification routine. For distance-coded encoders, the test is carried out only after 2 zero marks have been passed. Depending on the configuration of the drive, the same condition can also be output as an alarm or without any reaction.

• After initializing the pole position using track C/D, Hall signals or the pole position identification routine, the zero mark was detected outside the permissible range.
• When initializing via track C/D (p0404), the drive checks whether the zero mark occurs within an angular range of +/-18 ° mechanical.
• When initializing via Hall sensors (p0404) or pole position identification (p1982), the drive checks whether the zero mark occurs within an angular range of +/-60 ° electrical.

1. Check that the encoder cables are routed in compliance with EMC.
2. Check the plug connections.
3. If the Hall sensor is used as an equivalent for track C/D, check the connection.
4. Check the connection of track C or D.
5. Replace the encoder or the encoder cable.

In the message value, the drive reports the electrical angular deviation in %1 and the mechanical angle in %2. The fault value stored in r0949 is to be interpreted hexadecimal as yyyyxxxx:

• yyyy — determined mechanical zero mark position (can only be used for track C/D).
• xxxx — deviation of the zero mark from the expected position as electrical angle; scaling: 32768 dec = 180 °.

• r0949 — fault value of this message; read it hexadecimal as yyyyxxxx to see the determined mechanical zero mark position and the deviation as electrical angle (32768 dec = 180 °).
• p0404 — effective encoder configuration; it shows whether the zero mark is judged against the +/-18 ° mechanical window (track C/D) or the +/-60 ° electrical window (Hall sensors).
• p1982 — pole position identification selection; when initialization runs via this routine, the +/-60 ° electrical window applies.

Once the cause has been eliminated, the fault is acknowledged; acknowledgement becomes possible when the pulse inhibit is present, after which the drive can be restarted.