F30686 — SI Motion: Illegal parameterization cam position

SINAMICS raises F30686 — "SI Motion: Illegal parameterization cam position" — when at least one enabled Safety Cam (SCA) is parameterized too close to the tolerance range around the modulo position: a cam edge lies nearer to a modulo limit than the cam tolerance (p9340) plus the position tolerance (p9342) permit, or the cam itself is shorter than that tolerance sum. The drive notes that this fault does not result in a safety stop response.

• The minus position value of an enabled cam does not clear the lower modulo limit by more than the cam tolerance (p9340) plus the position tolerance (p9342).
• The plus position value of an enabled cam does not stay below the upper modulo limit by more than the cam tolerance (p9340) plus the position tolerance (p9342).
• Where a modulo range is configured (p9305 > 0), the lower limit is 0 and the upper limit is p9305; these are the limits the two clearances above refer to.
• The length of a cam, computed as p9336[x] - p9337[x] for cam x, is smaller than the sum of cam tolerance and position tolerance (p9340 + p9342). This condition also covers a cam whose minus position value is not smaller than its plus position value.

1. Read the fault value in r0949 as a decimal number; it names the Safe Cam whose position is illegal.
2. For that cam, compare the plus and minus position values with the modulo limits — with a modulo range (p9305 > 0) these are 0 and p9305.
3. Confirm that each cam edge keeps more than p9340 + p9342 distance to its limit, and that the cam length (p9336[x] - p9337[x]) exceeds p9340 + p9342 with the minus value below the plus value.
4. Correct the cam position and carry out a POWER ON.

• Interpreted as a decimal number, r0949 contains the number of the Safe Cam with an illegal position.

• p9336 — plus cam position of the Safe Cam; holds the plus position value checked against the upper modulo limit.
• p9337 — minus cam position of the Safe Cam; holds the minus position value checked against the lower modulo limit.
• p9340 — cam tolerance of the Safe Cam; the clearance each cam edge must keep from the modulo limits.
• p9342 — position tolerance (actual value comparison tolerance); is added to the cam tolerance for the edge clearances and the cam length check.
• p9305 — modulo value of SI Motion; if set greater than 0 it forms the upper modulo limit, with 0 as the lower limit.
• r0949 — fault value; read as a decimal number it gives the number of the affected Safe Cam.

The remedy is to correct the illegal cam position and then switch the power: Correct the cam position and carry out a POWER ON.