2310 'Encoder communication'

  • Error in communication with encoder
  • Encoder does not report/no encoder present
  • Encoder cable defective or not connected
  • Error in encoder database

Device

 

Description

  

Class

 Fehler

Drive Behaviour

 Coast to stop

Device Behaviour

System run-up aborted

Additional Error Information (AMK Service)
 

Error in communication:

Info 1

1

 Timeout: No acknowledgement of the encoder
2 CRC error: Faulty transmission of the encoder
3 Alarm bit: The internal error bit of the encoder is set
4

No single or multi-turn encoder recognized.

Info 2 0 ID32776 'Sine encoder period' is higher than the real solution of the single turn encoder. Check parameter ID32953 'Encoder type'
P- / Q-encoder: ID34265 'Encoder ratio'
Info 2 1 Motor revolution or encoder revolution not equal 1
2 No power of two
3 Motor revolution not equal 1 on singleturn encoder
5 Handshake: The answer of the encoder is wrong, disturbed communication, damaged encoder.
6 Command cannot be executed by driver since encoder not yet initialized
Help: Start System run-up again

7/

307

Motor was in motion when reading the position

Trigger Measure
AFP command READ_SINCOS Increase ID57 'In position window'
Run-up Motor must stand still during encoder run-up
8 Encoder property not compatibility, e.g. digital resolution to high, encoder type at present not possible.
9 Signal error at the interpretation of the analog pulse (SIN, COS is not equal to the absolute pulse).
Help: Check the cable of the encoder feedback.

87

The SUM bit in the DSL status is set and indicates that one or more bits are set in the encoder summary register. Each bit in the summary register displays an error message in the encoder status register. Info 2 displays the content of the encoder Summery register.
 

Error in action with encoder database:
Info 1 10 Identification: Reading error ID32842 'Encoder list customer', the encoder data are invalid
Help: The ID32842 must be recorded with valid data.
11 Checksum wrong: Data of ID32842 'Encoder list customer' in the encoder are wrong. Data of the were changed in the system without saving them in the encoder
12 ID32842 'Encoder list customer' was changed without saving the data in the encoder
13 Identification: Reading error “encoder list motor", the wrong list is invalid or the list is empty.
Help: The encoder list motor must be recorded trough AMK with valid data.
14 Checksum wrong: Data of the “Motor encoder list” in the encoder are wrong. Data of the “Motor encoder list” were changed in the system without saving them in the encoder
15 The data of the ID No. listed in the “User encoder list” require more memory than available in the encoder
16 The addressed memory cell may not be written
17 Entered address does not exist
18 The memory range in the encoder cannot be determined correctly
19 The offset address in the encoder cannot be determined correctly
20 ID34160 'Part number motor' is not equal with the part number motor witch is written into the encoder
Help: Read the motor data from the encoder.
21 In DSL-encoder is no database structure applied
30 Reading access:Error on reading data from DTH
31 Writing access:Error on writing data into DTH
32 ID wrong: ID number not available
33 Setpoint in ID32942 has a invalid polarity sign, referred to the motor sense of rotation ID32773, bit 16
34 The absolute setpoint in ID32942 is over the limit of the encoder
(ID116 x distinguishable revolutions of the encoder )
40 Inadmissible status
41 Timeout encoder commanding
70

A communication to FPGA has not been established

Info 2

 

 

 0 Error initialization Hiperface
1 Error initialization HDSL
2 Error initialization EnDat
4 Read error FPGA-version (I-encoder)

5

Error in the data transfer of the FPGA

6

Acknowledgment of the FPGA wrong
  Info 1 80

Survey the DSL-connection recognized an error

Info 2

 

 0

Error: In status word was error bits set

Info 3 Status word

Online status, high-byte: Active status bits: 1Ah = 0001 1010h

Bit Name Function Active
7 INT Status interrupt-line -
6 SUM Byte for error bits x
5 VTR CRC-error on safe channel -
4 FIX1 ever '1' x
3 POS

Invalid quickly position (position roughly)

(Monitored separately)

 -
2 VPOS Invalid safety position -
1 QMLW Survey QM-value < 14 -
0 PRST Protocol-reset x

Online status, low-byte: Is not relevant for cyclic survey
1

Error: An error was occurred to query the diagnostic register

Info 3 Error number
2

Warning: DSL-signals shows a increased interference level

Info 3 EDGE-register, more as 4 bits was set
3

Warning: Signal run time was more than 1000ns

Info 3 Delay-register > 10
4

Warning: Received signal strength is not optimal

Info 3 RSSI-register < 6, maximum 12
5

Error: Received signal strength is bad

Info 3 RSSI-register < 2
6

Warning: Signal quality is not optimal

Info 3 QM-register < 15
7

Error: Signal quality is bad

Info 3 QM-register < 8
8

Error: Connection to DSL-encoder was lost
9

Error: More than 6 positions was roughly because of errors

Info 3 ACCERR-register
10

Warning: In event register error bits was set

Info 3 EVENT-register

11

Error: POS bit set longer than allowed (Estimator active)

Info 3 Number of cycles until error message
  Info 1

 

 

 81

Error group= 40h

DSL-encoder has been detected an error with a resource access

Info 3 error code
82

Error group = 41h

DSL-encoder has been detected an error with a resource access

Info 3 error code
83

error group = 42h

DSL-encoder has been detected an error with a resource access

Info 3 error code
84

Error group = 43h

DSL-encoder has been detected an error with a resource access

Info 3 error code

85

Error during initialization of the DSL encoder

86

 

 

101

No multiturn encoder available

 

 

102

Wrong encoder type available

 

 

103

No modulo operation parameterized (ID76, ID32800)

 

 

104

There is no modulo value in ID103

 

 

105

CRC of the stored data is wrong

 

 

106

Encoder data has changed and is no longer compatible with the stored values

 

 

107

Correction value and actual position are in the wrong quadrant

 

 

108

Resolution in ID116 too large

 

 

109

Resolution in ID116 or ID103 too large

Note

Encoder errors of the option card KU-/KW-EN1 are distinguished from the motor encoder by Info 1 + 100

Error Removal
  • Check cable or plug
  • Check cable shield
  • Reduce cable length

Info 1 = 17 Info2 = 5 or 6: Fault or defect of the controller card

  • Drive OFF / ON. Replace the control card if it recurs.

Info1 = 80, 85, 86 Check encoder cable / POS bit is set on the DSL line due to faults / POS bit is set due to vibrations

  • Check the shielding of the DSL line
  • Check the mechanics for vibrations
  • Check ID33194 and ID33195

Info 1 = 101 bis 109

  • Check encoder type, multiturn type F, T or V (Modulo operation is not supported at this time for encoder type Q- or Y)
  • Check ID76 and ID32800, this function supports modulo operation according ID103.
  • Check modulo value in ID103 (0 < ID103 ≤ 230)
  • Check resolution in ID116 (ID116 ≤ 219)

  • The encoder was moved by more than a quarter of the encoder range before switching onDeactivate function and force with RF-change, that the data will be deleted. Then activate the function again and save the data with RF change.
Device IDT

Description

 Messages during initialization
(ID32773.23.= 1: reading the absolute position during initialization)

Class

 see below

Drive Behaviour

  

Device Behaviour

System run-up aborted

Additional Error Information (AMK Service)
 

ID32773.27 = 0
Info 1 6 Warning
Monitor of the UPS supply has triggered
9

Error
Actual position value change has been detected while no UPS was active (position reference has been lost).
  ID32773.27 = 1
Info 1 3

Error

Info 2 10 Survey of valid Flash has activated
9

Error

Faulty encoder angle was detected during system run-up
Device IDT

Description

 Error in combination with absolute encoder (type C)

Class

 see below

Drive Behaviour

  

Device Behaviour

 

Additional Error Information (AMK Service)
 

Info 1

3

Absolute encoder error

Info 2 1 Speed higher than 6000 rpm
2 Motor movement during the encoder power down (no battery power supply mode)
6 Communication error during the read access
7 Communication error during the write access
8 System SW error
9 Position lost because of the deep low power mode command
10 No valid record for position data is detected
5 Error
Encoder communication error
6 Warning
Absolute encoder power off detected
8 Error
Faulty encoder firmware
9 Error
Motor movement in low power mode without USV

Error Removal
  • Encoder included in motor electric
    Message incl. info 1 and info 2 to AMK service for error localisation