77C0, BiSS-C: Encoder error (position invalid), Id=0xXX, Arg=0xXX

The encoder could not transmit a valid position.
Id=0x%01: Position status signals an error. Arg='Position Status'

'Position Status'
Bit 0: ChannelEnable
Bit 1: Error, Internal error occured, reported by ic-haus IPCore.
Bit 2: PosReady, Position received and shifted, ready to be read by drive.
Bit 3: EncReady, Set once the ic-haus IPCore has been set up and is running. No evaluation of encoder's answers or correctnes of configuration.
Bit 4: LastPosValid, Position in last communication cycle was valid.
Bit 5: PosValid, Combinated evaluation of Bits -Error (Bit 1 of this status) -nAGSError (Bit 9 of this status) -Position valid from ic-haus core (position received, CRC validated, Bit 12 of this status) -nSCDError (Bit 8 of this status)
Bit 6: REGEND, Register Communication, not used
Bit 7: nREGERR, Register Communication, not used
Bit 8: nSCDERR , An error in the single cycle data detected by checksum verification (CRC) is shown with nSCDERR. If a sensor data error is signaled, the faulty sensor can be verified by reading SVALIDx. The nSCDERR flag is set after power on and after executing INIT.
Bit 9: nAGSERR, An AGS watchdog error nAGSERR is set during the automatic transmission of sensor data enabled by the instruction bit AGS if no new cycle could be initiated. If the last BiSS frame has not been finished in time, the next BiSS frame will be omitted. The following BiSS frame will be executed if possible. The nAGSERR flag is set when resetting the instruction bit AGS (typically by writing BREAK into the instruction register. (We do not use AGS, but the signal is misbehaving sometimes)
Bit 10: EOT, End Of Transmission, no encoder communication currently active
Bit 11: SLO_line_state, Current Status of SL, directly measured at the line, no core required.
Bit 12: SVALID1, The CRC verification result of the received single cycle sensor data of every BiSS frame is written to the validity message register SVALID for each slave separately. If the CRC is disabled in the slave configuration the correspondent SVALID flag is set after the reading of the sensor data is complete. After reading the sensor data, it is recommended to reset the validity flags by writing to the SVALID register. This way, it is possible to recognize updated sensor data.
Bit 13: rsvd : 1;
Bit 14: SenseData0, Bit 0 of received data, should be ENCODER WARNING in all BiSS-C encoders.
Bit 15: SenseData1, Bit 1 of received data, should be ENCODER ERROR in all BiSS-C encoders.

Internal: 0x77C0, BiSS-C: Encoder error (position invalid), Id=0x%X, Arg=0x%X