Siemens SINAMICS S210 - SI Motion P2: Actual Value Synchronization Not Permissible; SI Motion P2: Parameter Value Not Permitted for Encoderless

Cause: At least one enabled "Safety Cam" (SCA) is parameterized in p9336 or p9337 too close to the tolerance range around the
modulo position.
- the minus position value of a cam must be greater than the lower modulo limit + cam tolerance (p9340) + position tolerance
(p9342).
- the plus position value of a cam must be less than the upper modulo limit - cam tolerance (p9340) - position tolerance
(p9342).
- when the modulo position is parameterized (p9305 > 0), the lower modulo limit = 0, the upper modulo limit = p9305.
- the cam length of cam x = p9336[x] - p9337[x] is less than the cam tolerance + position tolerance (= p9340 + p9342).
This also means that cams of the minus position value must be less than the plus position value.
Note:
This fault does not result in a safety stop response.
Fault value (r0949, interpret decimal):
Number of the "Safe Cam" with an illegal position.
See also: p9501
Remedy: Correct the cam position and carry out a POWER ON.
Note:
SCA: Safe Cam
SI: Safety Integrated
F30688 SI Motion P2: Actual value synchronization not permissible
Message value: -
Drive object: All objects
Reaction: OFF2
Acknowledge: IMMEDIATELY (POWER ON)
Cause: - it is not permissible to enable actual value synchronization for a 1-encoder system.
- it is not permissible to simultaneously enable actual value synchronization and a monitoring function with absolute
reference (SCA/SLP).
- it is not permissible to simultaneously enable actual value synchronization and safe position via PROFIsafe.
Note:
This fault results in a STOP A that cannot be acknowledged.
Remedy: - either deselect the "actual value synchronization" function or parameterize a 2-encoder system.
- either deselect the function "actual value synchronization" or the monitoring functions with absolute reference (SCA/SLP)
and carry out a POWER ON.
- either deselect the "actual value synchronization" function or do not enable "Safe position via PROFIsafe".
Note:
SCA: Safe Cam / SN: Safe software cam
SI: Safety Integrated
SLP: Safely Limited Position / SE: Safe software limit switches
SP: Safe Position
See also: p9501
F30692 SI Motion P2: Parameter value not permitted for encoderless
Message value: Parameter: %1
Drive object: All objects
Reaction: OFF2
Acknowledge: IMMEDIATELY (POWER ON)
Cause: The parameter cannot be parameterized with this value if encoderless motion monitoring functions have been
parameterized in p9306.
Note:
This message does not result in a safety stop response.
Fault value (r0949, interpret decimal):
Parameter number with the incorrect value.
Faults and alarms
13.2 List of faults and alarms
SINAMICS S210 servo drive system
Operating Instructions, 12/2017, A5E41702836B AA 531