230-01AD

Check mechanical constraints

Inspect brake systems, clamps, and counterbalances. Verify axis brake engagement in MOD function 'Axis diagnosis' menu.

Ensure machine is in safe state before checking mechanical components

Measure actual deviation

In Setup->CfgReferencing, check the current endatDiff value and compare with actual position deviation shown in alarm details.

Document the deviation amount - consistent values indicate systematic mechanical issues

Perform controlled reference run

Execute manual reference point approach via Setup->CfgReferencing->Reference. Monitor for smooth movement and proper brake release.

Clear work area and verify axis travel limits before referencing

Check encoder cable integrity

Inspect EnDat cable for damage, proper shielding connection, and secure M23 connector engagement at both encoder and drive ends.

Use oscilloscope to check EnDat signal quality - look for clean differential signals without noise spikes

Verify encoder power supply

Check +5V supply to encoder in drive diagnostics. Voltage should be stable 5.0V ±0.25V under all operating conditions.

Measure voltage with encoder cable connected to avoid false readings

Test EnDat communication

Use Setup->CfgAxes->Encoder to verify EnDat status. Check for error counters and communication timeouts in encoder diagnostics.

Reset error counters and monitor during operation - increasing counts indicate intermittent communication issues

Review endatDiff setting

Navigate to Setup->CfgReferencing->endatDiff and compare current value with machine specifications. Typical values range from 0.001mm to 0.1mm depending on axis type.

Rotary axes typically require larger tolerances than linear axes due to gear backlash

Analyze historical deviations

Check LogBook entries for pattern of 230-01AD alarms. Consistent small deviations indicate need for tolerance adjustment.

Don't increase tolerance beyond mechanical accuracy requirements

Adjust parameter incrementally

Increase endatDiff by 50% increments until alarm stops occurring, then add 20% safety margin. Document change in machine logbook.

Test adjustment over several power cycles and temperature conditions before finalizing

Check encoder battery status

Access Setup->CfgAxes->Encoder and verify battery voltage reading. EnDat encoders typically require >3.0V for reliable position retention.

Replace battery immediately if voltage below 3.0V to prevent position loss

Test position retention

Power down machine for 30 minutes, then restart and check for alarm recurrence. Consistent alarms indicate battery failure.

Document power-down duration vs alarm occurrence to determine battery capacity remaining

Replace encoder battery

Follow encoder manufacturer's procedure for battery replacement. Typically requires removing encoder cover and replacing lithium cell.

Maintain encoder power during battery replacement to prevent position loss