F35009 — TM54F: Safety commissioning drive incomplete

F35009 reports that the safety commissioning of a drive is incomplete. For the Terminal Module 54F (TM54F) a drive object has been assigned via p10010, and this drive object either has no safety functions parameterized at all or its safety functions are parameterized faultily (p9501, p9601). The manuals for the G130, G150, S120 and S150 describe the fault identically, so the explanation and the remedy below hold for all these converters with a TM54F.

• A drive object was assigned to the TM54F (p10010) for which no safety functions are parameterized.
• Or the safety functions of this drive object are parameterized faultily (p9501, p9601).

1. Read the fault value r0949 bitwise binary to find the affected drive: the set bit names the drive with the error — bit 0 = drive 1, bit 1 = drive 2, bit 2 = drive 3, bit 3 = drive 4, bit 4 = drive 5, bit 5 = drive 6.
2. Carry out the safety commissioning of the drive involved and enable the safety functions for the TM54F.
3. If only the TM54F itself is to be commissioned, just set p9700 = 87d and p9701 = 172d.

• The drive stores the fault value in r0949; interpret it bitwise binary. Each set bit marks one drive object with an error.
• Bit 0 = 1: drive 1 error
• Bit 1 = 1: drive 2 error
• Bit 2 = 1: drive 3 error
• Bit 3 = 1: drive 4 error
• Bit 4 = 1: drive 5 error
• Bit 5 = 1: drive 6 error

• p10010 — assigns the drive objects to the TM54F (SI DO assign); this is the assignment the fault complains about.
• p9501 — enables the safety functions on the Control Unit (SI Mtn enable CU); named by the manual as the parameter whose settings are missing or faulty for the assigned drive object.
• p9601 — enables the functions integrated in the drive (Control Unit); named together with p9501 when the safety functions are faulty.
• r0949 — fault value; read it bitwise to identify which of drives 1 to 6 has the error.
• p9700 — SI Motion copy function; set to 87d to commission the TM54F.
• p9701 — acknowledges the change of the SI motion data; set to 172d after p9700.

The fault must be acknowledged immediately. Complete the safety commissioning of the affected drive and enable its safety functions for the TM54F — or commission the TM54F by setting p9700 = 87d and p9701 = 172d — and then acknowledge the message immediately. The drive itself takes no automatic response to this fault; it only reports the incomplete safety commissioning, so no separate restart routine is described.