FeedbackInput0 and FeedbackInput1 Faults

The FeedbackInput0 and FeedbackInput1 faults can occur when an axis is enabled or disabled. Use the Feedback Fault Reporting setting of the FaultSetup Parameter to set if the FeedbackInput0 and FeedbackInput1 faults can occur only when an axis is enabled or at all times.

The FeedbackInput0Fault and FeedbackInput1Fault causes are shown in the fault subcode bits. See the drop-downs that follow for more information about each subcode.

This error occurs when all of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

This occurs when the FeedbackInput0 Parameter or FeedbackInput1 Parameter is set to an option that your drive does not support.

This error occurs when one of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

This error occurs when all of the conditions that follow are true: 

Using the Data Visualizer Module

You can add the Fault Subcode signal in the Configure Signals dialog of the Data Visualizer module. To use the condensed version of this module in the Develop workspace, see Data Visualizer Module. To use the larger version of this module in the Visualize workspace, see Visualize Workspace. When you add this signal in the Configure Signals dialog, enter Fault Bit 7 to get the value for the FeedbackInput0Fault subcodes, and enter Fault Bit 8 to get the value for the FeedbackInput1Fault subcodes. The fault subcode value that shows in the Data Visualizer is a decimal representation of this fault subcode bitmap.

To interpret the subcodes, convert the decimal value that you get from the Data Visualizer to a binary number. Every bit that is set to 1 means that there is an active fault for the corresponding subcode.

For example, a FaultSubcode 7 value of 8 means that the FeedbackInput0Fault has a Hall Fault subcode (bit 3). A FaultSubcode 8 value of 3 means that the FeedbackInput1Fault has both the Sine Fault subcode (bit 1) and Cosine Fault subcode (bit 0).

Troubleshooting FeedbackInput0 and FeedbackInput1 Faults

Use the table in the drop-down that follows to help find the cause and solution of the FeedbackInput0Fault or FeedbackInput1Fault. The table does not include all of the causes of this fault, just the ones that occur most frequently.

Subcode

Cause

Examine Your System

Solution

Cosine Fault (0)

The feedback cable might be unplugged.

Examine your system wiring.

Make sure that the COS+ (Encoder Cosine+) and COS- (Encoder Cosine-) pins are connected correctly.

Sine Fault (1)

The feedback cable might be unplugged.

Examine your system wiring.

Make sure that the SIN+ (Encoder Sine+) and SIN- (Encoder Sine-) pins are connected correctly.

Radius Fault (2)

The feedback cable might be unplugged.

 Examine your system wiring.

Make sure that the COS+ (Encoder Cosine+), COS- (Encoder Cosine-), SIN+ (Encoder Sine+), and SIN- (Encoder Sine-) pins are connected correctly.
The feedback device is not tuned. N/A Tune the encoder parameters using the Automatic Encoder Tuning module or the Manual Encoder Tuning module. Make sure that the encoder radius threshold parameters are set to the values that you want.
Hall Fault (3) The feedback cable might be unplugged. Examine your system wiring.

Make sure that the Hall Effect Sensor pins are connected correctly.
Absolute Encoder Timeout Error (5) The feedback cable might be unplugged. Examine your system wiring.

Make sure that the CLK+ (Absolute Encoder Clock+), CLK- (Absolute Encoder Clock-), DATA+ (Absolute Encoder Data+), and DATA- (Absolute Encoder Data-) pins are connected correctly.

If you are using an SSI encoder, the period of time that is necessary to sample the encoder might be too long. Refer to the manual for your encoder. Use the equation in the Timeout Behavior section of PrimarySsiEncoderSetup Parameter or AuxiliarySsiEncoderSetup Parameter to make sure that the period of time is sufficient for your encoder.
Absolute Encoder CRC Error (6) The feedback cable might be unplugged. Examine your system wiring.

Make sure that the CLK+ (Absolute Encoder Clock+), CLK- (Absolute Encoder Clock-), DATA+ (Absolute Encoder Data+), and DATA- (Absolute Encoder Data-) pins are connected correctly.

The EnDat parameters are configured incorrectly. Refer to the manual for your encoder.

Make sure that the parameters that follow are configured to match the specifications of the encoder: 

or

The BiSS parameters are configured incorrectly. Refer to the manual for your encoder.

Make sure that the parameters that follow are configured to match the specifications of the encoder: 

or
EnDat Data Receive Error (7) Your EnDat encoder is reporting a data receive error. Refer to the manual for your encoder.

Make sure that the encoder is wired correctly.

Make sure that the parameters that follow are configured to match the specifications of the encoder: 

or

BiSS Encoder Error (8) Your BiSS encoder is reporting an error. Refer to the manual for your encoder. Make sure that the encoder is wired correctly. Also, make sure the encoder scale and readhead are mounted properly.
SSI Parity Error (9) The feedback cable might be unplugged. Examine your system wiring.

Make sure that the CLK+ (Absolute Encoder Clock+), CLK- (Absolute Encoder Clock-), DATA+ (Absolute Encoder Data+), and DATA- (Absolute Encoder Data-) pins are connected correctly.

Your SSI encoder does not have a parity bit. Refer to the manual for your encoder. Make sure that the Use Parity setting of the PrimarySsiEncoderSetup Parameter or AuxiliarySsiEncoderSetup Parameter is set correctly.
Invalid Feedback Input (16) The feedback input selected is not valid for your drive. N/A Make sure that the FeedbackInput0 Parameter or FeedbackInput1 Parameter is set to an option that your drive supports.
Invalid Feedback Type (17) The feedback type selected is not valid for your drive. Refer to the table on the PrimaryFeedbackType Parameter or the AuxiliaryFeedbackType Parameter page. Make sure that the PrimaryFeedbackType or AuxiliaryFeedbackType parameter is set to an option that your drive supports.
Invalid Multiplication Factor (18) The multiplication factor selected is not valid for your drive. Refer to the table on the PrimaryEncoderMultiplicationFactor Parameter or AuxiliaryEncoderMultiplicationFactor Parameter page. Make sure that the PrimaryEncoderMultiplicationFactor or the AuxiliaryEncoderMultiplicationFactor parameter is valid for your drive.
EnDat Configuration Fault (24) Your EnDat encoder does not support incremental signals. Refer to the manual for your encoder. Make sure that the PrimaryFeedbackType Parameter is set correctly.
The PrimaryEncoderMultiplicationFactor parameter is set incorrectly. Refer to the manual for your encoder.

First, make sure that the parameters that follow are configured to match the specifications of the encoder: 

Then, make sure that the PrimaryEncoderMultiplicationFactor Parameter is set to a value that is compatible with the absolute and incremental encoder resolutions that you specified.

BiSS Configuration Fault (25) The PrimaryEncoderMultiplicationFactor is set incorrectly. Refer to the manual for your encoder.

First, make sure that the parameters that follow are configured to match the specifications of the encoder: 

Then, make sure that the PrimaryEncoderMultiplicationFactor Parameter is set to a value that is compatible with the absolute and incremental encoder resolutions that you specified.