F01686 — SI Motion: Illegal parameterization cam position

F01686 belongs to the SI Motion functions and reports that the position data of a configured Safe Cam is not permissible. The manual formulates the checks separately for dbSI and for ncSI drive objects; the G130/G150 entry states the corresponding conditions for its VECTOR_G drive object. In every version the trigger is an enabled Safe Cam (SCA) whose position values in p9536 or p9537 break one of the clearance rules listed below. The manuals also note that this fault does not trigger a safety stop response.

• At least one enabled Safe Cam (SCA) violates the clearance the drive demands around the modulo position; its position values are held in p9536 and p9537.
• For dbSI: the minus position value of a cam has to sit above the lower modulo limit by more than the cam tolerance (p9540) plus the position tolerance (p9542), and the plus position value has to stay below the upper modulo limit by the same two tolerances. With a modulo value set (p9505 > 0), the lower limit is 0 and the upper limit is p9505.
• The cam length of cam x, formed as p9536[x]-p9537[x], is smaller than p9540 + p9542. A cam of this kind is too short — and a cam whose minus position value is not less than its plus position value fails this same rule.
• On a cam track, the distance between two cams x and y — the minus position value of cam y minus the plus position value of cam x, i.e. p9537[y]-p9536[x] — is smaller than the required p9540 + p9542.

1. Read the fault value in r0949 as a decimal number — it names the Safe Cam whose position the drive has rejected.
2. Open that cam's plus and minus position values in p9536 and p9537 and set them against the modulo limits — when p9505 > 0 the range runs from 0 up to p9505. For dbSI each position must clear its limit by more than p9540 + p9542.
3. Confirm that the cam length p9536[x]-p9537[x] reaches at least p9540 + p9542 and that the minus position value is less than the plus position value.
4. Check the spacing to the neighbouring cams on the same track: from the plus position value of one cam to the minus position value of the next, at least p9540 + p9542 must remain.
5. Correct every position that fails these rules and then carry out a POWER ON as described below.

• r0949, interpreted as a decimal number, contains the number of the Safe Cam whose position is illegal.

• p9536 — plus cam position of the SCA/SN at the Control Unit: one of the two position values examined for this fault.
• p9537 — minus cam position of the SCA/SN at the Control Unit: together with p9536 it forms the cam length checked here.
• p9540 — SCA/SN tolerance at the Control Unit: the cam tolerance that enters every minimum distance of this fault as p9540 + p9542.
• p9542 — actual value comparison tolerance (cross-check) at the Control Unit: the position tolerance added to p9540 in each clearance rule.
• p9505 — SI Motion modulo value (SP): when it is greater than 0, the lower modulo limit is 0 and the upper modulo limit is p9505.
• r0949 — fault value: read it as a decimal number to obtain the number of the affected cam.
• p9501 — enable of the SI Motion safety functions at the Control Unit: the parameter the manual cross-references for this fault.

The remedy is identical in every manual that describes this fault: Correct the cam position and carry out a POWER ON. In practice this means adjusting the plus and minus values of the affected cam in p9536 and p9537 until all clearances listed above are met, and then powering the drive down and back up. Because the trigger is a parameterization error, the fault will come back if the drive is restarted with the cam geometry unchanged.