Sinumerik Alarm 26002 Axis %1 encoder %2 parameterization error: number of encoder marks
Parameters:
%1 = Axis name, spindle number
%2 = Encoder number
Definitions:
1. Rotary measuring system ($MA_ENC_IS_LINEAR[]==FALSE) The number of encoder marks set in MD31020 $MA_ENC_RESOL[] does not correspond to the value in the drive machine data MD1005 or zero has been entered in one of the two machine data.
2. Absolute measuring system with EnDat interface ($MA_ENC_TYPE[]==4) On absolute encoders, the resolution of the incremental and absolute track supplied by the drive is also checked for consistency.
• Motor measuring system: MD1005, MD1022
• Direct measuring system: MD1007, MD1032 The two drive machine data must have a defined relation to one another. If the conditions listed below are not fulfilled, an alarm is output.
2.1 Rotary measuring system ($MA_ENC_IS_LINEAR[] == FALSE) MD1022/MD1005 == 4 * n [n=1,2,3…] (motor measuring system) MD1032/MD1007 == 4 * n [n=1,2,3…] (direct measuring system)
2.2 Linear measuring system ($MA_ENC_IS_LINEAR[] == TRUE) MD1005/MD1022 == 4 * n [n=1,2,3…] (motor measuring system) MD1007/MD1032 == 4 * n [n=1,2,3…] (direct measuring system)
Reactions:
– Mode group not ready.
– Channel not ready.
– If the axis is a single axis when this alarm is triggered, the alarm is only effective for this axis (not effective for e.g. the channel or mode group)
– Channel not ready.
– NC Start disable in this channel.
– NC Stop on alarm.
– The NC switches to follow-up mode.
– Alarm display.
– Interface signals are set.
Remedy:
Please inform the authorized personnel/service department. Adjust machine data. For absolute encoders, pending drive alarms indicating encoder problems should be evaluated, if necessary. They could be the cause of incorrect entries in MD1022/MD1032 which are read out of the encoder by the drive.
Program Continuation:
Switch control OFF – ON.
References
- Siemens Diagnostics Guide by Siemens