Cause: The parameterization of a Sensor Module used for Safety Integrated is not permissible.
Note:
This fault results in a STOP A that cannot be acknowledged.
Fault value (r0949, interpret decimal):
1: No encoder was parameterized for Safety Integrated.
2: An encoder was parameterized for Safety Integrated that does not have an A/B track (sine/cosine).
3: The encoder data set selected for Safety Integrated is still not valid.
4: A communication error with the encoder has occurred.
5: Number of relevant bits in the encoder coarse position invalid.
6: DRIVE-CLiQ encoder configuration invalid.
8: Parameterized Safety comparison algorithm not supported.
Remedy: For fault value = 1, 2:
- use and parameterize an encoder that Safety Integrated supports (encoder with track A/B sine-wave, p0404.4 = 1).
For fault value = 3:
- check whether the drive or drive commissioning function is active and if required, exit this (p0009 = p00010 = 0), save
the parameters (p0971 = 1) and carry out a POWER ON
For fault value = 4:
- check whether there is a DRIVE-CLiQ communication error between the Control Unit and the Sensor Module involved
and if required, carry out a diagnostics routine for the faults identified.
For fault value = 5:
- p9525 = 0 (not permissible). Check the encoder parameterization on the Sensor Modules involved.
For fault value = 6:
- check p9515.0 (for DRIVE-CLiQ encoders, the following applies: p9515.0 = 1). Check the encoder parameterization on
the Sensor Modules involved.
For fault value = 8:
- use and parameterize an encoder that implements an algorithm supported by Safety Integrated.
Note:
SI: Safety Integrated
F01671 SI Motion: Parameterization encoder error
Message value: %1
Drive object: All objects
Reaction: OFF2
Acknowledge: IMMEDIATELY (POWER ON)
Cause: The parameterization of the encoder used by Safety Integrated is different to the parameterization of the standard encoder.
Note:
This fault does not result in a safety stop response.
Fault value (r0949, interpret decimal):
Parameter number of the non-corresponding safety parameter.
Remedy: Align the encoder parameterization between the safety encoder and the standard encoder.
Note:
SI: Safety Integrated
F01672 SI P1 (CU): Motor Module software/hardware incompatible
Message value: %1
Drive object: All objects
Reaction: OFF2
Acknowledge: IMMEDIATELY (POWER ON)
Faults and alarms
13.2 List of faults and alarms
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 363
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