F30773 — SI Motion P2: Test stop fail-safe digital output error

F30773 is raised when processor 2 detects a fault while it forces the failsafe digital output (F-DO) through its test stop — the automatic check in which the output channels are switched through defined ON and OFF states and the returned states are verified. The G130/G150 and S120/S150 manuals describe this SI Motion P2 condition in the same way: the error was found on processor 2, and the fault value tells you at which point of the test the check failed and why.

• Processor 2 registered a fault during the forced checking procedure (test stop) of the F-DO. The reason is coded in the fault value:
• reason Y = 1: processor 1 was in an incorrect test stop state (internal fault).
• reason Y = 2: the DOs did not reach their expected states — on a CU305 the readback is taken via DI 22, on a CU240 via DI 2.
• reason Y = 3: the timer state on processor 1 was incorrect (internal fault).
• reason Y = 4: the diag DOs did not reach their expected states (CU305, read back internally on processor 2).
• reason Y = 5: the second diag DOs did not reach their expected states (CU305, read back internally on processor 1).

1. Check the wiring of the failsafe digital output (F-DO).
2. Restart the test stop and let it run through — the fault is withdrawn once the test stop has been completed successfully.

The drive stores the fault value in r0949; interpret it as a hexadecimal word with the nibble pattern RRRVWXYZ:

• Z — the test stop state reached: 0…3 is the synchronization phase between the two processors with no switching operations, 4…13 switch the DO channels through the ON/OFF combinations with a check of the states after each step, and 14 is the end of the test stop.
• Y — the reason for the fault, as listed under causes.
• X — the DO channels that indicate the error, as a bit pattern (bit 0 = DO 0, bit 1 = DO 1, etc.).
• V and W — the actual state of the affected channel on processor 2 (read back from the hardware) and the required state. On this fault both always match; a 0 means 0 was expected at the readback input but was not present on processor 1.
• R — reserved.

If processor 1 signals the same event as F01773, read the two fault values together: processor 1 carries the expected-versus-read-back deviation, while F30773 shows what processor 2 measured.

• r0949 — fault value: read it here and split it into the nibbles described above to obtain the reason (Y), the test stop state (Z) and the affected DO channels (X) for this fault.

Acknowledge the fault by switching the drive power off and on (POWER ON). Per the manual's note, the fault is withdrawn as soon as the test stop has been completed successfully; with several test stop faults pending, the first that occurred is shown, and the next queued fault, if one exists, is signaled after the test stop has been restarted.