C30706 — SI Motion P2: SAM/SBR limit exceeded

C30706 is a safety message of the Safety Integrated (SI) Motion monitoring (P2). The SAM (Safe Acceleration Monitor, safe acceleration monitoring) or SBR (Safe Brake Ramp, safe brake ramp monitoring) function — or the encoder-based motion monitoring — has detected that the drive's actual speed exceeded the selected tolerance after a stop or a speed changeover was initiated. The drive has already been shut down by the accompanying message C30700 "SI Motion MM: STOP A initiated"; on the G120 the shutdown message is printed as C30700 "SI Motion P2: STOP A initiated". Which monitoring case raised the message follows from the setting of p9306.

The manuals describe the condition per monitoring function, and the setting of p9306 decides which case applies. (The G120 manual lists only the SAM and SBR cases and names only STOP B (SS1) for SAM; for the HLA drive object only the encoder-based case is described.)

• Motion monitoring with encoder (p9306 = 0): after initiating STOP B (SS1) or STOP C (SS2), the speed has exceeded the selected tolerance.
• Encoderless with set acceleration monitoring SAM (p9306 = 3): after initiating STOP B (SS1) or STOP C (SS2), the speed has exceeded the selected tolerance.
• Encoderless with set brake ramp monitoring SBR (p9306 = 1): after initiating STOP B (SS1) or an SLS changeover to the lower speed level, the speed has exceeded the selected tolerance.

1. Check the braking behavior of the drive after the stop (STOP B (SS1), STOP C (SS2)) or after the SLS changeover to the lower speed level.
2. If necessary, adapt the parameterization of the parameter settings of the SAM or the SBR function — the SAM tolerances (p9348, p9548) and the brake ramp settings of SBR (p9381, p9382, p9383), selected via p9306.
3. Acknowledge the message as described under reset before the drive is started again.

The manuals print no message value for this code, so there is no fault value to decode. Which monitoring function raised the message follows from the setting of p9306.

• p9306 — SI Motion function specification (Motor Module): tells you which monitoring raised the message — 0 = with encoder, 1 = encoderless with SBR, 3 = encoderless with SAM.
• p9348 — SI Motion SAM actual velocity tolerance (Motor Module): the SAM tolerance setting to check and adapt when the SAM function raised this message.
• p9548 — SI Motion SAM actual speed tolerance (Control Unit): the SAM tolerance at the Control Unit, likewise to check and adapt when SAM raised this message.
• p9381 — SI Motion brake ramp reference value (Motor Module): part of the SBR brake ramp parameterization to check and adapt when the SBR function raised this message.
• p9382 — SI Motion brake ramp delay time (Motor Module): SBR brake ramp parameter, likewise to adapt when SBR raised this message.
• p9383 — SI Motion brake ramp monitoring time (Motor Module): SBR brake ramp monitoring time, likewise to adapt when SBR raised this message.

After the shutdown through C30700, acknowledge the message. A POWER ON is not required when one of the safe acknowledgment paths is used: Terminal Module 54F (TM54F), onboard F-DI (only CU310-2), PROFIsafe, or the machine control panel. On the G120, acknowledge without a POWER ON using "Acknowledge internal event". Check the braking behavior and, if necessary, adapt the SAM or SBR parameterization before acknowledging.