Code 232130: <location>Encoder 2: Zero mark and position error from the coarse synchronization

Message value: Angular deviation, electrical: %1, angle, mechanical: %2 Drive object: All objects Reaction: A_INFEED: NONE SERVO: OFF1 (IASC/DCBRAKE, NONE, OFF2, OFF3, STOP1, STOP2) VECTOR: OFF1 (IASC/DCBRAKE, NONE, OFF2, OFF3, STOP1, STOP2) Acknowledge: PULSE INHIBIT Cause: After initializing the pole position using track C/D, Hall signals or pole position identification routine, the zero mark was detected outside the permissible range. For distance-coded encoders, the test is carried out after passing 2 zero marks. Fine synchronization was not carried out. When initializing via track C/D (p0404) then it is c hecked whether the zero mark occurs in an angular range of +/-18 ° mechanical. When initializing via Hall sensors (p0404) or pole pos ition identification (p1982) it is checked whether the zero mark occurs in an angular range of +/-60 ° electrical. Fault value (r0949, interpret hexadecimal): yyyyxxxx hex 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. Normalization: 32768 dec = 180 ° Remedy: - check that the encoder cables are routed in compliance with EMC. - check the plug connections. - if the Hall sensor is used as an equi valent for track C/D, check the connection. - check the connection of track C or D. - replace the encoder or encoder cable. SINAMICS-Alarms Diagnostics Manual (DAsl), 03/2009