C01706 — SI Motion P1 (CU): SAM/SBR limit exceeded

C01706 is raised by the SI Motion monitoring functions of the Control Unit when, after a safe stop or a speed changeover has been initiated, the actual speed leaves the band the drive tolerates — either the Safe Acceleration Monitor (SAM) or the Safe Brake Ramp (SBR) limit was exceeded. Which of the two monitors depends on the setting of p9506: motion monitoring with an encoder, encoderless SAM, or encoderless SBR. The exceeded tolerance causes the drive to shut itself down with C01700 "SI Motion: STOP A initiated".

• Motion monitoring functions with an encoder (p9506 = 0), or encoderless with acceleration monitoring SAM set (p9506 = 3): after STOP B (SS1) or STOP C (SS2) was initiated, the speed has exceeded the selected tolerance.
• Motion monitoring functions encoderless with brake ramp monitoring SBR set (p9506 = 1): after STOP B (SS1) or an SLS changeover to the lower speed level, the speed has exceeded the selected tolerance.
• The drive is shut down by message C01700 "SI Motion: STOP A initiated".

1. Check the braking behavior after the stop or the SLS changeover was initiated, i.e. whether the speed overshoots the tolerated band.
2. If necessary, adapt the parameter settings of the SAM or SBR function: the SAM actual velocity tolerance p9548, and for SBR the brake ramp reference value p9581, the brake ramp delay time p9582 and the brake ramp monitoring time p9583.

• p9506 — SI Motion function specification (Control Unit): its setting decides which monitoring raises this message — encoder-based monitoring (0), SBR (1) or SAM (3).
• p9548 — SI Motion SAM actual velocity tolerance (Control Unit): the speed tolerance whose exceedance triggers C01706 when SAM is active; adapt it if the braking overshoots after a stop.
• p9581 — SI Motion brake ramp reference value (Control Unit): reference value of the brake ramp SBR monitors; check it against the actual braking when the message comes from SBR.
• p9582 — SI Motion brake ramp delay time (Control Unit): delay time of the monitored brake ramp, one of the SBR settings to adapt after this message.
• p9583 — SI Motion brake ramp monitoring time (Control Unit): monitoring time of the brake ramp, one of the SBR settings to adapt after this message.

After the cause has been corrected, the message can be acknowledged without a POWER ON (safe acknowledgment) via the Terminal Module 54F (TM54F), the onboard F-DI (only CU310-2), PROFIsafe or the machine control panel; one manual additionally names acknowledgment using "Acknowledge internal event". Because the drive was shut down through C01700 "SI Motion: STOP A initiated", it only runs again once this safety message has been safely acknowledged.