F35004 — TM54F: communication cycle invalid

F35004 is raised by the drive's safety monitoring channel when the communication cycle stored in p10000[x] does not match the monitoring cycle of the drive object assigned in p10010[x]. As long as the fault is present, the TM54F activates its Failsafe Values and none of the drives are enabled. Both manuals that describe this fault state it identically, so one set of steps applies.

• The communication cycle in p10000[x] does not correspond with the monitoring cycle of the drive object entered in p10010[x]. If only p10000[0] is used, this single cycle must be identical with all monitoring cycles of the drive objects used in p10010[0...5].
• The communication cycle in p10000[x] has been selected too low. For an axis with Basic Safety Functions via TM54F, the monitoring cycle should be greater than 500us + 8 * current controller clock cycles of the drive.
• The fault is also signaled when a drive controlled with TM54F is parameterized so that the basic functions are controlled via TM54F while, at the same time, the extended safety functions or ncSI have been parameterized.
• A fault value of 0 points to one of two cases: the TM54F has not been switched off since its firmware update, or the firmware of the connected TM54F is too old.

1. Read the fault value in r0949 as a binary number: bits 0...5 indicate a mismatch between p10000[x] and p10010[x], bits 16...21 indicate a communication cycle selected too low.
2. For bits 0...5, first check that Extended Safety Functions or Basic Functions via TM54F are enabled for every drive entered in p10010.
3. For bits 16...21, increase the current controller sampling time of the corresponding drive to avoid faults in operation.
4. Execute the copy function for TM54F (p9700 = 87).
5. Adapt the checksums for TM54F (p9701 = 172).
6. Copy RAM to ROM.
7. Carry out a POWER ON.

• The drive enters the fault cause in r0949; interpret the value as binary.
• Bit 0 = 1: p10000[0] does not correspond with the monitoring cycle of p10010[0].
• Bit 1 = 1: p10000[1] does not correspond with the monitoring cycle of p10010[1] — the same pattern continues up to bit 5 (p10000[5] versus p10010[5]).
• Bit 16 = 1: p10000[0] has been selected too low.
• Bit 17 = 1: p10000[1] has been selected too low — the same pattern continues up to bit 21 (p10000[5] selected too low).
• Fault value = 0: the TM54F has not been switched off since its firmware update, or the firmware of the connected TM54F is too old.

• r0949 (fault value): read the fault cause here and interpret it as a binary bit pattern to find which p10000 index mismatches or is too low.
• p10000 (SI TM54F communication clock cycle): holds the TM54F communication cycle that must match the monitoring cycles of the drive objects assigned in p10010.
• p10010 (SI TM54F drive object assignment): the drive objects whose monitoring cycles are compared — check here that Extended Safety Functions or Basic Functions via TM54F are enabled for every drive entered.
• p9700 (SI Motion copy function): execute the copy function for TM54F with the value 87 as part of the remedy.
• p9701 (Acknowledge SI motion data change): adapt the checksums for TM54F with the value 172 as part of the remedy.

The fault only stays away once the cycle settings are corrected, so work through the steps above for the bit group that r0949 shows. The prescribed sequence ends with copy RAM to ROM followed by a POWER ON. While the fault is present, the TM54F keeps its Failsafe Values activated and none of the drives are enabled; after a POWER ON with matching cycle data, this state is lifted and the drives can run again.