Hello B&R World,
if you are working with Lenze motors with HIPERFACE and you get the error -2141087655 [39001]: Encoder: Position correction active
most likely the SIN/CON in the connector is swapped.
We recently working with Lenze motor with HIPERFACE and ACOPOS reported this error to us. After rechecking the Pin/Outs from the encoder manufacturer it was found that A =Cosine and B=Sine while on B&R A=Sine and B=Cosine . So we found that SIN and CON are swapped between each other LENZE/ACOPOS.
Solution:
It is necessary to swap SIN and CON in the connector and Lenze motor + ACOPOS then work without problems.