F30681 — SI Motion P1: Incorrect parameter value

F30681 (SI Motion P1: Incorrect parameter value) reports that a Safety Integrated Motion parameter was written with a value the drive cannot accept — The parameter cannot be parameterized with this value. The message value carries the rejected parameter (%1) and supplementary information (%2); the fault value in r0949 says exactly which parameter and which combination was refused. The manual notes that this message does not result in a safety stop response. The S120/S150 and G130/G150 manuals decode a long list of inadmissible combinations; the G120 manual names only the p9301/p9801 and p9385 cases, so on a G120 those two are the realistic suspects.

• A safety function is enabled without the prerequisite it depends on: SLS limit value transfer (p9301.24), safe position (p9301.25), safe switchover of gearbox stages (p9301.26), SS2E (p9301.18), SCA (p9301.28), SLA (p9301.20) and SS2ESR (p9301.4) each require PROFIsafe (p9801.3) and the motion monitoring functions integrated in the drive (p9801.2).
• “Extended functions without selection” (p9801.5), or the onboard F-DI, are enabled without the motion monitoring functions integrated in the drive (p9801.2) — and if p9801.2 and p9801.5 are both active, PROFIsafe (p9801.3) is not possible at all.
• “n < nx hysteresis and filtering” (p9301.16) runs together with “Extended functions without selection” (p9801.5).
• Referencing via SCC (p9301.27) without an absolute motion monitoring function (p9301.1 or p9301.2).
• “Synchronous safe position via PROFIsafe” (p9301.29) without “Safe position via PROFIsafe” (p9301.25), or together with “Safety without encoder” (p9306).
• SLA (p9301.20) with encoderless actual value sensing (p9306 = 1 or 3) or with a 2-encoder system (p9326 not equal to 1).
• The SLP limit values have been set too high (absolute values).
• The hysteresis tolerance does not fit: p9347 must stay at or below 0.75 × p9346 and, with actual value synchronization (p9301.3) enabled, at or above p9349.
• The SLA acceleration limit (p9378) is too low for the acceleration resolution (r9790).
• For Safety without encoder on a synchronous motor, p9385 does not have the required value.

1. Read the fault value in r0949 as a decimal number: the xxxx part names the rejected parameter, the yyyy part gives the supplementary information; yyyy = 0 means no additional information is available.
2. If the two monitoring channels hold different values, start the copy function for SI parameters on the drive (p9700 = 57 hex) so both channels carry the same data.
3. Correct the refused bit or value: for 9301 either fix the hysteresis/filtering bit or deselect p9801.5; for 9334 or 9335 reduce the SLP limit values; for 9347 keep p9347 at or below 0.75 × p9346 and, with p9301.3 enabled, at or above p9349; for 9378 observe the information in r9790.
4. Where the manual’s remedy points to the Control Unit channel, correct the same bit there (p9501.16 for the hysteresis case, p9501.27 for SCC referencing); if the fault value names 9317, also check p9316.0.
5. If the affected function is also enabled on the other monitoring channel, repeat the correction there (p9601).

The drive stores the fault value in r0949; interpreted as a decimal number it reads yyyyxxxx, where xxxx is the parameter and yyyy the supplementary information.

• yyyy = 0: no additional information available.
• xxxx = 9301: “n < nx hysteresis and filtering” (p9301.16) is not permissible together with “Extended functions without selection” (p9801.5).
• xxxx = 9334 or 9335: the SLP limit values have been set too high (absolute values).
• xxxx = 9347: the hysteresis tolerance is not permissible.
• xxxx = 9378: SLA is enabled and the acceleration limit (p9378) is too low — the acceleration resolution (r9790) is no longer sufficient.
• xxxx = 9385: for Safety without encoder and a synchronous motor, p9385 does not have the required value.
• xxxx = 9801: a safety function is enabled without its prerequisite — usually without PROFIsafe (p9801.3) or without the motion monitoring functions integrated in the drive (p9801.2); yyyy names the function.

Further yyyy values under 9301 and 9801 identify the individual function combination; the S120/S150 and G130/G150 manuals decode them case by case.

• r0949 — fault value: read it as a decimal yyyyxxxx to identify the refused parameter (xxxx) and the reason (yyyy).
• p9301 — SI Motion enable safety functions (Motor Module): holds the enable bits this fault checks, e.g. .16 hysteresis/filtering, .24 SLS via PROFIsafe, .25 safe position, .26 gearbox stages, .27 SCC referencing, .29 synchronous safe position.
• p9801 — SI enable functions integrated in the drive (Motor Module): .2 motion monitoring functions, .3 PROFIsafe and .5 extended functions without selection must be combined exactly as the fault value demands.
• p9306 — SI Motion function specification: select actual value sensing with encoder (0 or 2) if SLA is to remain enabled, or “Safety with encoder” for the synchronous safe position.
• p9326 — SI Motion encoder assignment: SLA needs a single-encoder system, not a 2-encoder system.
• p9346, p9347, p9349 — SSM velocity limit, SSM velocity hysteresis and slip velocity tolerance: size the hysteresis according to the rules under checks.
• p9378 — SI Motion SLA acceleration limit: raise it until r9790 shows sufficient resolution.
• r9790 — SI Motion SLA acceleration resolution: its information tells whether p9378 is set adequately.
• p9385 — actual value sensing sensorless fault tolerance: must match “Safety without encoder” on a synchronous motor.
• p9501 — SI Motion enable safety functions (Control Unit): where the remedy refers to the Control Unit channel, correct the bit here (.16, .27).
• p9316 — SI Motion encoder configuration: check bit .0 when the fault value names 9317.
• p9700 — SI Motion copy function: run it with 57 hex to equalize different values in the two monitoring channels.
• p9601 — SI enable functions integrated in the drive (Control Unit): repeat the correction here when the other monitoring channel is affected.

The drive coasts down and must be acknowledged immediately with POWER ON before it will restart. Because this is a parameterization error, the acknowledgement only holds once the inadmissible value has been corrected — on both monitoring channels where necessary (p9601, or copy with p9700 = 57 hex) — otherwise the drive refuses the value again.