C01717 — SI Motion P1 (CU): SLA limit exceeded

C01717 is a Safety Integrated (SI) message of the SI Motion P1 monitoring in the Control Unit (CU). It reports that the acceleration limit of the Safely-Limited Acceleration (SLA) function was exceeded. When this happens, the drive is stopped with the stop response configured in p9579; the fault message itself triggers no additional automatic reaction. The message value, stored in r9749, shows which of the two acceleration monitoring paths detected the violation (see the decoding below). According to the manual, SI stands for Safety Integrated and SLA for Safely-Limited Acceleration.

• The acceleration occurring in the drive exceeded the limit configured for the Safely-Limited Acceleration (SLA) function; as a result, the drive is stopped with the stop response set in p9579.

1. Check the traversing/motion program in the control.
2. Check the acceleration limit for the SLA function and, if required, adapt it (p9578).
3. Read the message value in r9749 (interpret decimal) and analyze the causes: for message value 0 using r9714[0] and r9714[3]; for message value 1 using r9789[0], r9789[1] and r9789[2].
4. Carry out a safe acknowledgment.

• The drive writes the message value to r9749; the manual specifies that it is interpreted as a decimal number.
• 0 — the monitoring of the coarsely resolved acceleration has violated the acceleration limit.
• 1 — the monitoring of the finely resolved acceleration and possibly filtered acceleration has violated the acceleration limit.

• p9578 — SI Motion SLA acceleration limit (CU): the acceleration limit monitored by the SLA function; check it for this code and adapt it here if required.
• p9579 — SI Motion SLA stop response (Control Unit): determines the stop response with which the drive is stopped when the SLA acceleration limit is exceeded.
• r9749 — SI message value: holds the message value of this message; interpret it as a decimal number to see whether the coarse (0) or the fine (1) acceleration monitoring tripped.
• r9714 — CO: SI motion diagnostics velocity: for message value 0, analyze the causes using r9714[0] and r9714[3].
• r9789 — CO: SI Motion SLA acceleration diagnostics: for message value 1, analyze the causes using r9789[0], r9789[1] and r9789[2].

After the cause has been removed, the message is acknowledged immediately; the acknowledgment mode additionally requires a POWER ON, i.e. the drive must be switched off and on again. The remedy also calls for carrying out a safe acknowledgment. Note that the stopping itself was not performed by a fault reaction of the message, but by the SLA stop response configured in p9579.