F01682 — SI Motion P1 (CU): Monitoring function not supported

F01682 is raised by the Control Unit when a Safety Integrated motion monitoring function that has been enabled in the safety parameters is not supported by the firmware version actually loaded. The drive makes a STOP A that cannot be acknowledged and coasts down; it can only restart after the unsupported setting has been removed and the drive has been powered off and on again. The fault value stored in r0949 tells you which function is affected.

• A monitoring function enabled via p9501, p9601, p9801, p9307 or p9507 is not supported by this firmware version; on some drive objects only p9501, p9601 and p9801 are evaluated.
• A set value of the sensorless actual value sensing — p9586/p9386, p9588/p9388 or p9589/p9389 — is greater than the supported maximum.
• STOP B was parameterized as the response to a PROFIsafe failure although PROFIsafe is not enabled, or p9612/p9812 = 1 was set for control via TM54F, which the drive does not support.
• The firmware of the Motor Module is too old for the enabled function (fault value 59, SERVO drive objects).

1. Read the fault value in r0949 and interpret it as a decimal number; it names the unsupported monitoring function and the enable bit involved.
2. Deselect the function named, in the parameter where it was enabled: p9501, p9503, p9506, p9601, p9801, p9307 or p9507.
3. For fault values 9586, 9588 or 9589, reduce the set value of p9586/p9386, p9588/p9388 or p9589/p9389 below the supported maximum; the remedy also lists increasing the set value p9578.
4. For fault value 59, upgrade the firmware of the Motor Module to a later version.
5. For fault value 9612, establish communications with PROFIsafe (p9601) and parameterize STOP A as the stop response for PROFIsafe failure (p9612 = 0); where control runs via TM54F, set p9612/p9812 = 0.
6. Power the drive off and on again afterwards; the STOP A cannot be cleared any other way.

• The drive writes the fault value to r0949; interpret it as a decimal number.
• Values 1 to 59 each name the monitoring function that this firmware or hardware does not support, together with the enable bit involved — for example 1 = SLP not supported (p9501.1), 10 = monitoring functions only for a SERVO drive object, 23 = CU240 does not support monitoring functions requiring an encoder, 38 = the safety functions must not be enabled simultaneously with the essential service mode (ESM, p3880). The manuals decode every value in this pattern.
• 9586, 9588 or 9589: the set value of p9586/p9386, p9588/p9388 or p9589/p9389 is greater than the supported maximum value.
• 9612: STOP B was parameterized as the stop response for PROFIsafe failure although PROFIsafe is not enabled; on some hardware the setting p9612/p9812 = 1 is not supported for control via TM54F.
• 59: the enabled function is not supported by the Motor Module firmware (SERVO drive objects).

• r0949 — read the decimal fault value here; it names the unsupported function or the set value that is too high.
• p9501 — the enable bits of the SI motion safety functions at the Control Unit; clear the bit the fault value points to.
• p9503 — enables the SCA (SN) cam monitoring at the Control Unit; deselect it if a cam function was named.
• p9506 — function specification for encoderless monitoring (p9506.1); switch the encoderless function off here.
• p9601 — enables the functions integrated in the drive at the Control Unit; deselect the named function and, for fault value 9612, establish PROFIsafe communications here.
• p9801 — the Motor Module counterpart of p9601; make the same change here.
• p9307 — SI Motion function configuration at the Motor Module; remove the unsupported setting here.
• p9507 — SI Motion function specification at the Control Unit; remove the unsupported setting here.
• p9586 / p9386 — sensorless delay time (Control Unit / Motor Module); reduce it for fault value 9586.
• p9588 / p9388 — sensorless minimum current; reduce it for fault value 9588.
• p9589 / p9389 — sensorless acceleration limit; reduce it for fault value 9589.
• p9578 — SLA acceleration limit at the Control Unit; the remedy lists increasing this set value.
• p9612 — PROFIsafe failure response at the Control Unit; set 0 (STOP A) for fault value 9612.
• p9812 — PROFIsafe failure response at the Motor Module; set 0 together with p9612 under TM54F control.

The fault produces a STOP A that cannot be acknowledged from the operator panel or the commissioning tool. Remove or correct the unsupported setting first; then switch the drive off and on again (POWER ON) to clear F01682 and restart.