A01796 — SI P1 (CU): Wait for communication

A01796 comes from the Safety Integrated functions (SI P1) integrated in the Control Unit (CU): the drive is waiting for communication to be established before it can execute the safety-relevant motion monitoring functions. In this state STO (Safe Torque Off) is active — the pulses are safely suppressed. The alarm value in r2124 shows which partner the drive is waiting for: SINUMERIK, TM54F or the PROFIsafe F-Host; on the G120 the manual describes only the wait for the PROFIsafe F-Host. Depending on how the drive is configured, the same condition can also be output as a fault or without any reaction. Normally the message withdraws itself as soon as the communication is up.

• The safety-relevant motion monitoring functions of the SI P1 integrated in the Control Unit cannot run yet because the required communication has not been established.
• The drive is waiting for the partner named in the alarm value r2124 — SINUMERIK, TM54F or the PROFIsafe F-Host; on the G120 only the wait for the PROFIsafe F-Host is described.

1. Read the alarm value in r2124 (interpret it as a decimal number) to see which communication partner the drive is waiting for.
2. Wait first: the message should withdraw automatically. Only if it is still present after a longer period of time, make the following checks, as appropriate for the partner.
3. Waiting for SINUMERIK (not G120): check any other PROFIBUS messages/signals present and remove their cause; check that the assignment of the axes on the higher-level control to the drives in the drive unit is correct; check the enable signal of the safety-relevant motion monitoring functions for the corresponding axis on the higher-level control and, if required, set it.
4. Waiting for TM54F (not G120): check any other messages/signals present for DRIVE-CLiQ communication with the TM54F and remove their cause; check the setting of p10010 — all the drive objects controlled by the TM54F must be listed.
5. Waiting for the PROFIsafe F-Host: check any other PROFIsafe communication messages/signals present and evaluate them; check the operating state of the F-Host; check the communication connection to the F-Host.
6. G130, G150, S120, S150 additionally: check the communication connection to the Motor Module/Hydraulic Module. The module must be connected when the Control Unit powers up and at the latest switched on together with the Control Unit; if it is only inserted or switched on afterwards, a POWER ON must be performed at the Control Unit.

• The manual decodes the alarm value that the drive stores in r2124; interpret the value as a decimal number.
• 1: the drive is waiting for communication to be established to SINUMERIK.
• 2: the drive is waiting for communication to be established to TM54F.
• 3: the drive is waiting for communication to be established to the PROFIsafe F-Host — the only value the G120 manual lists.
• While the drive waits, STO (Safe Torque Off) is active.

• r2124 — alarm value: read here, interpreted as a decimal number, which partner the drive is waiting for (1 SINUMERIK, 2 TM54F, 3 PROFIsafe F-Host).
• p10010 — SI TM54F drive object assignment: check its setting when the drive waits for TM54F communication; all the drive objects controlled by the TM54F must be listed.
• p9601 — SI enable functions integrated in the drive (Control Unit): cross-referenced by the manual under this alarm for the SI functions whose communication is being waited for.
• p9801 — SI enable functions integrated in the drive (Motor Module): cross-referenced by the manual under this alarm for the SI functions whose communication is being waited for.

No acknowledgement is required for the alarm: the drive withdraws the message itself once the waited-for communication is established. While it is active, STO keeps the pulses safely suppressed. If the drive is configured to output the same condition as a fault, it must be acknowledged immediately once the cause has been remedied. One case needs more than waiting: if the Motor Module/Hydraulic Module was only inserted or switched on after the Control Unit powered up, a POWER ON must be performed at the Control Unit.