C01730 — SI Motion P1 (CU): Reference block for dynamic Safely-Limited Speed invalid

C01730 comes from the Safety Integrated (SI) monitoring of SI Motion P1 in the Control Unit (CU). The higher-level control transfers a reference block via PROFIsafe, and this block is used to generate the referred velocity limit value for the dynamic Safely-Limited Speed (SLS) function from the reference quantity "Velocity limit value SLS1" (p9531[0]). The safety monitoring channel has identified that the transferred block is invalid, and the drive is stopped as a result of the stop response configured in p9563[0]. The manual's abbreviations: SI = Safety Integrated, SLS = Safely-Limited Speed, SG = Safely reduced speed. Other messages of the same SI Motion P1 group, e.g. C01714 (Safely Limited Speed exceeded) or C01710 (STOP E initiated), are described on their own pages.

• The reference block transferred via PROFIsafe is negative. Such a block serves to generate the referred velocity limit value from the reference quantity "Velocity limit value SLS1" (p9531[0]). Both manuals describe this cause identically for the listed drive objects, so there is only this one cause.

1. Read the message value in r9749 and interpret it decimal — it identifies the condition as "requested, invalid reference block".
2. In the PROFIsafe telegram, input data S_SLS_LIMIT_IST must be corrected. The block currently transferred is negative, so the value sent in the PROFIsafe telegram has to be corrected.

• The drive stores the message value in r9749; the manual specifies to interpret it decimal.
• For C01730 the value means: requested, invalid reference block. The manual gives no further bit decoding for this message.

• p9531[0] — "Velocity limit value SLS1": the SI Motion SLS (SG) limit values of the Control Unit; this is the reference quantity from which the referred velocity limit value is generated.
• p9563[0] — the SI Motion SLS (SG)-specific stop response of the Control Unit; with the response configured here the drive is stopped when this message occurs.
• r9749 — the SI message value; read it (interpret decimal) to confirm that an invalid reference block was requested.

Correct input data S_SLS_LIMIT_IST in the PROFIsafe telegram first. The manual then explicitly allows acknowledging this message without a POWER ON: it names safe acknowledgment via PROFIsafe as the way to do this.