Encoder 2: Absolute encoder EnDat, internal fault/error

What does 232111 mean?

The EnDat encoder fault word supplies various fault bits indicating internal issues. These can range from a failed lighting system, low signal amplitude, incorrect position values, or power supply irregularities (over/undervoltage, overcurrent) affecting the encoder. Additionally, serial communication errors like incorrect quiescent levels, a non-responsive encoder, CRC errors, or acknowledgment errors can occur. If these encoder or communication issues persist, they can lead to inaccurate position feedback, impacting drive control and potentially causing operational halts or unexpected machine behavior.

Additional Steps

Steps 1–2 are listed in Priority Fix.

1. 3

   Update the Sensor Module firmware if a timeout occurs during cyclic reading or if internal driver errors are detected.

2. 4

   Review and correct parameterization using p0429.2, p0449, p0436, or p0429.6 as indicated by specific fault bits for issues like protocol length, frame errors, or data line signal levels.

3. 5

   Inspect the physical data line for integrity and correct connections. Replace the encoder or Sensor Module if persistent internal encoder defects cannot be resolved through other steps.