Siemens SINAMICS S210 Operating Instructions Manual page 569

Bit 20: Position word 2 communication error between FPGAs.
Bit 21: Position word 2 position determination error (singleturn).
Bit 22: Position word 2 internal hardware fault (clock/power monitor IC/power).
Bit 23: Position word 2 internal error (self-test/software).
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Note:
For an encoder version that is not described here, please contact the encoder manufacturer for more detailed information
on the bit coding.
Remedy: - determine the detailed cause of the fault using the fault value.
- if required, replace the DRIVE-CLiQ encoder.
F31138 Encoder 1: Fault when determining the position (multiturn)
Message value: Fault cause: %1 bin
Drive object: All objects
Reaction: Servo: ENCODER (IASC/DCBRK, NONE)
Acknowledge: PULSE INHIBIT
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA
Faults and alarms
13.2 List of faults and alarms
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