C01689 — SI Motion: Axis re-configured

C01689 is a safety message with the manual title “SI Motion: Axis re-configured”. It is issued because the axis configuration was changed — for example a switchover between a linear axis and a rotary axis. The drive has already reacted to this change: it sets parameter p0108.13 internally to the correct value. The message therefore tells you that a re-configuration has taken place and that the saving and safety commissioning steps that follow it still have to be completed.

The manual adds two notes: This fault does not result in a safety stop response. And in the commissioning tool or commissioning software, the units are only consistently displayed after a project upload. The “See also” note points to p9502 (SI Motion axis type (Control Unit)).

• The axis configuration was changed, e.g. a changeover between a linear axis and a rotary axis (switchover).
• As a result, parameter p0108.13 is set internally by the drive to the correct value.

1. Exit the safety commissioning mode (p0010).
2. Save all parameters (p0977 = 1 or "copy RAM to ROM").
3. Carry out a POWER ON.
4. After this POWER ON, safety message F01680 or F30680 indicates that the checksums in r9398[0] and r9728[0] have changed in the drive — the manual therefore requires a second sequence:
5. Activate the safety commissioning mode again.
6. Complete the safety commissioning of the drive.
7. Exit the safety commissioning mode again (p0010).
8. Save all parameters again (p0977 = 1 or "copy RAM to ROM").
9. Carry out a POWER ON again.

• The drive writes the number of the parameter that initiated the change into r0949; interpret the fault value as a decimal number.
• The message value shows "Parameter: %1", i.e. the parameter that initiated the change. No further bit decoding is given.

• p0108 (Drive objects function module / DO fct_mod): the drive sets p0108.13 internally to the correct value when the axis configuration changes.
• r0949 (fault value): read it as a decimal number to identify the parameter that initiated the change.
• p0010 (drive commissioning parameter filter): use it to exit the safety commissioning mode — and to activate the mode again for the second commissioning sequence.
• p0977 (save all parameters): set it to 1 ("copy RAM to ROM") to save all parameters before each POWER ON.
• r9398 (SI Mtn act CRC MM): actual checksum of the SI Motion parameters (MM); after the POWER ON, the change of its index [0] is reported via F01680 or F30680.
• r9728 (SI Mtn act CRC): actual checksum of the SI Motion parameters; r9398[0] and r9728[0] are the two checksums whose change the follow-up safety message reports.
• p9502 (SI Mtn ax type CU): SI Motion axis type (Control Unit); the manual's "See also" note for this fault points to this parameter.

The drive coasts down and, per the manual's sequence, only runs again after a POWER ON: exit the safety commissioning mode (p0010), save all parameters (p0977 = 1 or "copy RAM to ROM"), then carry out a POWER ON. Because the re-configuration changes the checksums in r9398[0] and r9728[0], the drive signals this after switch-on with safety message F01680 or F30680 — a second safety commissioning cycle (activate mode, complete commissioning, exit mode, save, POWER ON) is then required before the drive is back in service.