F01684 — SI Motion P1 (CU): Safely limited position limit values interchanged

F01684 is raised by the SI Motion P1 safety functions in the Control Unit (CU) when the limit values of the function Safely-Limited Position (SLP) are interchanged: p9534, the parameter for the upper limit values, contains a lower value than p9535, the parameter for the lower limit values. The manuals note explicitly that this fault does not result in a safety stop response — it is a parameterization/configuration error, not a dangerous condition detected by the safety monitoring.

• For the function Safely-Limited Position (SLP), a lower value is in p9534 than in p9535 — the upper limit values (p9534) and the lower limit values (p9535) have been swapped or entered the wrong way round.

1. Read the fault value in r0949 as a decimal number to see which pair of limit values is affected: 1 means the SLP1 limit values are interchanged, 2 means the SLP2 limit values are interchanged.
2. Compare p9534 (SI Motion SLP upper limit values, Control Unit) with p9535 (SI Motion SLP lower limit values, Control Unit) and correct the lower and upper limit values (p9535, p9534) so that the value in p9534 is again greater than the value in p9535.
3. Carry out a POWER ON (switch off/on) as the remedy prescribes.

• The drive stores the fault value in r0949; interpret it as a decimal number.
• 1: Limit values SLP1 interchanged.
• 2: Limit values SLP2 interchanged.

• p9534 — SI Motion SLP (SE) upper limit values (Control Unit): must hold the higher of the two SLP limit values; if the values were entered interchanged, correct it here.
• p9535 — SI Motion SLP (SE) lower limit values (Control Unit): must hold the lower value; correct it together with p9534 as the remedy prescribes.
• r0949 — fault value: read it as a decimal number to determine whether the SLP1 (1) or the SLP2 (2) limit values are interchanged.

The remedy consists of exactly two steps: correct the lower and upper limit values (p9535, p9534) and then carry out a POWER ON, i.e. switch the drive off and on again. Because the fault does not produce a safety stop response, no safety-related revalidation is involved — once the limit values are corrected and the POWER ON has been performed, the drive starts with a valid SLP parameterization.