C30770 — SI Motion P2: Discrepancy error affecting the failsafe inputs

C30770 is a safety message of the SI Motion monitoring. It reports that a fail-safe digital input (F-DI) has shown a different state for longer than the discrepancy time parameterized in p10002 (TM54F F-DI) or p10102 (SI Motion, processor 2). On the G130, G150, S120 and S150 the message also covers the fail-safe digital outputs (F-DO) — it is titled there SI Motion P2: Discrepancy error of the fail-safe inputs/outputs — while on the G120 only the failsafe inputs are meant. If several discrepancy errors occur consecutively, only the first error that occurs is signaled; the fault value in r0949 shows which F-DI or F-DO is affected.

• A fail-safe digital input (F-DI) — on the G130, G150, S120 and S150 also a fail-safe digital output (F-DO) — shows a different state for longer than the time parameterized in p10002 / p10102.
• Contact problems in the wiring of the F-DI: the wiring check the manual gives as the remedy names these explicitly.
• A cyclically switched F-DI whose discrepancy time in p10102 is not adapted to the switching frequency.

1. Check the wiring of the F-DI for contact problems — this is the remedy the manual specifies for the message.
2. Read the fault value in r0949 and identify the affected F-DI or F-DO from the bit assignment above.
3. For a cyclically switched F-DI, adapt the discrepancy time to the switching frequency. With tp = period for a switching operation in ms and td = the actual discrepancy time (in ms) that can occur with a switching operation — at least one SI monitoring cycle, see p9300 — the manual requires p10102 < (tp / 2) - td, p10102 > td and p10102 >= p9300; on the G120 the lower limit is 12 ms and td must also be at least 12 ms.
4. When the debounce is active — p10017 on the G130/G150/S120/S150, p10117 on the G120 — the discrepancy time is specified directly by the debounce time. Here too p10102 must be greater than td and at least p9300 (12 ms on the G120); on the G120 the manual additionally requires p10102 < p10117 + 1 ms - td.
5. Manual example: with a 12 ms SI monitoring cycle and a switching frequency of 110 ms (p10117 = 0), p10102 <= (110/2 ms) - 12 ms = 43 ms; rounded off, p10102 <= 36 ms, because the discrepancy time is accepted only as a whole SI monitoring cycle (on the G120 as a multiple of 12 ms).

• The drive stores the fault value in r0949; on the G130, G150, S120 and S150 it is interpreted hexadecimal as yyyyxxxx hex — xxxx stands for the fail-safe digital inputs, yyyy for the fail-safe digital outputs.
• xxxx, inputs: Bit 0 — discrepancy error for F-DI 0, Bit 1 — discrepancy error for F-DI 1, …
• yyyy, outputs: Bit 0 — discrepancy error for F-DO 0, …
• On the G120 the fault value is interpreted binary and only the input bits are decoded: Bit 0 — discrepancy error for F-DI 0, Bit 1 — discrepancy error for F-DI 1, …

• r0949 — fault value: read it to see which F-DI or F-DO bit reports the discrepancy error.
• p10002 — SI TM54F F-DI changeover discrepancy time: one of the two monitoring times against which the F-DI state difference is evaluated.
• p10102 — SI Motion F-DI changeover discrepancy time (processor 2): the discrepancy time you adapt when an F-DI is switched cyclically.
• p9300 — SI Motion monitoring clock cycle (Motor Module): the SI monitoring cycle that forms the lower limit for p10102 on the G130/G150/S120/S150.
• p10017 — SI TM54F digital inputs debounce time: when active on the G130/G150/S120/S150, it directly specifies the discrepancy time.
• p10117 — SI Motion digital inputs debounce time (processor 2): appears in the debounce inequalities on the G120 and in the manual's example (p10117 = 0).
• p10106 — SI Motion acknowledgment internal event F-DI (processor 2): the acknowledgment via PROFIsafe, extended message acknowledgment, is carried out with it.
• p9307 — SI Motion function configuration MM: bit 0 activates Extended message acknowledgment, which restricts safe acknowledgment via an F-DI assigned to STO or SS1.

The message is acknowledged via an F-DI or via PROFIsafe (safe acknowledgment). A discrepancy error of an F-DI can only be acknowledged if safe acknowledgment has been carried out once after the cause of the error has been resolved (p10106, acknowledgment via PROFIsafe, extended message acknowledgment); as long as this has not happened, the affected F-DI remains in the safe state internally. With the function Extended message acknowledgment active (p9307.0), one restriction applies: If the F-DI assigned for STO or SS1 is in a fail-safe state due to a discrepancy error, then when deselecting via this F-DI, safe acknowledgment can no longer be executed.