SINUMERIK 840D sl. Service - Safety Integrated. Manual (2020)

Commissioning

10.7 Replacing a motor or encoder

After at least one of these encoder components has been replaced, Alarm 27035 "Axis %1 new

HW component, acknowledgment and function test required" is output (changed CRC in index

1 of $MA_SAFE_ACT_CHECKSUM[ ] and possibly Alarm F01680 with ID 2, i.e. hardware IDs have

changed).

When replacing motors with integrated encoders, Alarm F01680 "SI Motion CU: Checksum error

safe monitoring functions" is output with fault value 2 (changed CRC of parameter p9728[2]),

i.e. changed hardware identifiers). Also in this case, an acknowledgment is required and a

function test must be performed.

The term "function test" designates a partial acceptance test that is described in detail in the

alarm description.

If Alarm 27035 or F01680 with ID 2 is output, a new softkey "Acknowledge SI HW" is displayed

in the alarm screen. This can only be actually selected with key switch setting 3 (the same as for

the user agreement).

Figure 10-16

Acknowledging SI HW

The following message is displayed after pressing softkey "Ackn. HW":

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10.7 Replacing a motor or encoder

Figure 10-17

Acknowledging SI HW, step 2

After acknowledging with softkey "OK", the actual checksums SAFE_ACT_CHECKSUM[1] /

r9728[2] for all of the axes are copied to the reference checksum SAFE_DES_CHECKSUM[1] /

p9729[2] and a recommendation is given to power on the control. This is done by pressing the

"OK" softkey.

After the system has successfully booted, the user must carry out the measures of the function

test just acknowledged in the HMI messages or in Alarm 27035 / F01680, i.e.

• Re-calibration of the actual value encoder

• Checking the SI actual value acquisition: Speeds, traversing direction, absolute position (if

required, set the user agreement)

• Document the new checksum value in SAFE_ACT_CHECKSUM[1] or r9728[2] and the last

entry in the change history in MD SAFE_CONFIG_CHANGE_DATE[0]

• Document the hardware and software version data of the new component

Alternatively, Alarm 27035 / F01680 can be acknowledged using the softkey "Acknowledge SI

data" and the softkey "Reset drive/NCK".

The user can suppress the automated internal actual value check by resetting the "user

agreement" - therefore requesting that the axis is re-calibrated with the appropriate user

agreement.

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10.7 Replacing a motor or encoder

10.7.1

Replacing a hardware component

General

For SINUMERIK controls with the Safety Integrated function, the safety-related hardware

components (e.g. SMI motors, SMC, SME) are secured using a checksum.

In the case of service, when replacing one of these components, the checksum for the hardware

component must be confirmed.

Up to SINUMERIK SW release 4.5, when replacing the components listed above, the

confirmation of the new checksum is supported by a softkey in the "Diagnostics" area ("SI

confirm HW data").

As a result of the extended features in the SINAMICS runtime software, in addition to the

hardware components (SMI motors, SMC SME), additional components are also monitored

(motor module, EnDat encoder).

Depending on the component being replaced, this is signaled to the user using Alarms

201640/201641

This feature is active in the default setting; by reconfiguring the message type, a response the

same as in SINUMERIK software releases > 4.7 can be re-established.

Acknowledging that a component has been replaced

Softkey "SI confirm HW data" in the Diagnostics/alarm list area supports acknowledging when a

component has been replaced.

Providing a response as in SINUMERIK software < 4.7

In order to provide you with a response applicable up to software release < 4.7, it is possible to

modify the message type of alarms 201640/201641 - and set to "No report".

To do this, you must set parameters p2118 and 2119 in the drive as follows:

• p2118[0...19] change message type message number

= alarm number (e.g. 1640)

• p2119[0...19] change message type, type

= 3: No message (N, "No Report")

Replacing components in conjunction with changeover heads

We recommend that alarms 201640/201641 are configured for "No Report" to provide a

changeover head scenario.

Otherwise, when changing a head, depending on the encoder type, one of the two following

alarms can be output.

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11.1

Troubleshooting procedure

• The alarms that have been activated in response to an error are output in the "DIAGNOSIS -

ALARMS" screen. When required, the safety alarms can be suppressed in the diagnostics

display using the "Filter out SI alarms" softkey.

• For Alarm 27090 "Error for crosswise Data comparison NCK-PLC", the cause of the error (the

incorrect SPL variable) is displayed in the alarm output.

• For Alarm 27254 "PROFIsafe: F-module, error on channel", the input/output channel with

error for modules belonging to the ET 200 series, is displayed in the alarm output.

• For Alarm 27001 "Defect in a monitoring channel", the fine error code is also displayed in the

alarm output.

• For Alarm C01711 "SI Motion defect in a monitoring channel" the fine error code is displayed

in the alarm output. The cause of the alarm can be read out in screen ”Commissioning -

Machine data - Drive MD” using parameter r9725 “SI Motion diagnostics STOP F”.

• The actual crosswise data comparison of the drive monitoring channel is displayed in

diagnostic screen "Status SI” - in line "STOP F code value".

• For Alarms F01611/F30611 "Defect in a monitoring channel", the fine error code is displayed

in the alarm output. The actual error search of this alarm is additionally displayed in

parameters r9795/r9895.

Note

Different error codes may be displayed for the NCK and drive monitoring channels.

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Display of the diagnostic signals of the drive

Figure 11-4

Status signals, drive

The following table shows the list of signals of the drive for the status SI screen.

Signal

Motor Module

Control Unit

STO active

r9872.1

r9772.1

SS1 active

r9872.2

r9772.2

STOP A active

r9872.10

r9772.10

STOP F active

r9872.15

r9772.15

STO cause, Safety commission-

r9872.16

r9772.16

ing mode

STO cause, selection via terminal

r9872.17

r9772.17

STO cause, actual value is missing

r9872.19

r9772.19

Display of the checksum

The screen for checksum SI is divided into three areas:

• Safety options

• Safety checksum status

• Details, safety checksums

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Figure 11-9

Significance of the status display of the safety-related input and output signals

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11.1 Troubleshooting procedure

SPL

The softkey "SPL" is used to access the window for the status display of the SPL.

Figure 11-12

Status display SPL

In the "Variable" selection box, you can select:

$A_INSE(P) corresponds to simultaneous selection of

$A_INSE upper line, origin of the NCK and

$A_INSEP lower line, origin of the PLC

and essentially in the same way for the other variables:

$A_OUTSE(P)

$A_INSI(P)

$A_OUTSI(P)

$A_MARKERSI(P)

$A_PLCSIIN

$A_PLCSIOUT

The variables that have been selected and the associated bit areas are saved and are taken into

account when subsequently selecting the screen.

Using the select key, the following formats can be selected in the variable rows

B binary

H hexadecimal

D decimal.

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The selected format is applicable for the particular variable, as each variable can be assigned an

individual display format.

Further, various SPL states are displayed.

Displaying the qualities of SPL input/output variables

Just displaying values "0" and "1" in the diagnostics screen is not sufficient to identify the cause

of faults that have occurred. For a more precise evaluation, the quality of these two values is of

interest.

Figure 11-13

Display of the quality

The following colors are used to display the quality:

"Process value": the actual value of the system variables (0 or 1) represents a

process value.

Light blue

"Substitute value": the actual value of the system variables (0 or 1) represents a

(static or dynamic) substitute value; i.e. is currently not supplied with a process

value from one of the known sources.

Gray

"Not parameterized": the system variable (value 0 or 1) is, as a result of the MD

parameterization, not assigned to the known sources/sinks.

SI communication

You can access the menu of the SI communication using the "SI communication" softkey.

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Figure 11-22

Details of the F-modules

11.1.2

Safety Integrated global checksums

The number of checksums to be checked at a machine is reduced through the introduction of

master checksums.

All of the checksums of an axis - or also all axes - are added in these master checksums. This

means that users only have to compare one checksum in order to check whether something has

changed since the last time it was determined. As a consequence, the master checksum is not

saved, but when required, is recalculated each time.

The global checksums for Safety Integrated are shown in the Diagnostics operating area as

dedicated dialog in the existing checksums screen. The global checksums are determined and

the dialog is displayed by pressing the "Checksum SI" vertical softkey. The previous SI checksum

dialog is kept, and can be accessed from the "Global checksum" dialog by pressing vertical

softkey "Axis/drive checksum". (For a comparison, see diagram, "Status SI").

The navigation branches as follows:

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The global checksums are calculated as follows:

Master checksum

Calculated by adding the listed data

Global safety engineer-

NC master checksum

SAFE.SPF checksum

ing checksum

$MN_SAFE_GLOB_ACT_CHECKSUM[0]

(sum of all master check-

$MN_SAFE_GLOB_ACT_CHECKSUM[1]

sums)

$MN_SAFE_GLOB_ACT_CHECKSUM[2]

$MN_SAFE_GLOB_ACT_CHECKSUM[3]

Axis master checksum

$MA_SAFE_ACT_CHECKSUM[0]

$MA_SAFE_ACT_CHECKSUM[2]

(Sum across all axes with $MA_SAFE_FUNCTION_ENA-

BLE.0==1)

Drive master checksum

r9728[0]

r9728[1]

(Sum across all drives, that are assigned to an axis with

$MA_SAFE_FUNCTION_ENABLE.0==1)

Drive-based master checksum

r9798

r9898

(sum across all drives, which are assigned to one axis with

$MA_SAFE_FUNCTION_ENABLE.0==1)

Safety-relevant hardware

Safety-relevant hardware checksum

$MA_SAFE_ACT_CHECKSUM[1]

checksum

(Sum across all axes with $MA_SAFE_FUNCTION_ENABLE

0==1)

r9728[2]

(Sum across all drives, that are assigned to an axis with

$MA_SAFE_FUNCTION_ENABLE.0==1)

Data are determined and the checksums are calculated when the dialog is displayed.

The calculation of the checksums depends on the expansion stage of the control system and can

take longer than 10 seconds. During the calculation, a progress bar is displayed, which indicates

which global checksums are presently being calculated and which MD or parameters are

presently being read from which axis or which drive object.

The progress dialog can be exited using the "Cancel" softkey which then also means that the

calculation of the checksums is canceled. The global checksums dialog remains empty and the

following text appears in the dialog window:

"No data can be displayed, as the calculation of the global checksums has been aborted". A new

calculation of the global checksums is realized with the "Display new" softkey.

The "Display new" softkey is only displayed if the calculation of the global checksums was

canceled. In this case, the "Details" softkey is also inactive.

The checksums are calculated across all SI for which the following applies: MD36901

$MA_SAFE_FUNCTION_ENABLE, bit 0 == 1. If there is no axis for system-integrated operation,

the "Safety Integrated system integrated" part in the table is omitted.

Master checksums are displayed using the "Details" softkey.

The Details dialog is updated with the cursor keys up and down. The cursor can only be

positioned to lines that contain a checksum.

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11.1 Troubleshooting procedure

The safety-relevant hardware checksum has only one master checksum. In the Details menu,

only one line is displayed with this checksum.

Using the "Back" softkey, you can change to the vertical softkey bar of the Safety diagnostics.

11.1.3

Integrating safety SPL user alarms

Preconditions

In order to integrate the alarm text extension for SINUMERIK Operate, the "HMI Solutionline

Alarm Text Converter" is used. Using this converter, it is possible to convert alarm text

extensions, which were already generated on an HMI Advanced or a self-generated alarm text

extension (in the *.com format) into the *.ts format required for SINUMERIK Operate, and to

integrate this using WINSCP.

The alarm text converter is included in the scope of delivery of the software

(setup_alarmtextconverter.exe).

Converting SINUMERIK Operate Safety user alarms from PCU50

Start the alarm text converter and allocate a filename under "Output File Prefix" (e.g. user_alsi).

Figure 11-26

Allocating the file name

The source directory is specified in "Source Path".

Figure 11-27

Selecting the source directory

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As the SPL user text files are index text files (pro rata alarm text), for correct conversion in the

specified "Source Path", a subdirectory with the name */ALSI must be created. The alarm text

extension file *.com to be converted must be saved in this subdirectory.

Figure 11-28

Creating a subdirectory

In "Target Path", the target directory is specified in which the converted safety user alarm text

files for SINUMERIK Operate should be stored.

Figure 11-29

Determining the target directory

A "cfg" and an "Ing" folder are created in the "Target Path" with "Convert". The following files are

generated in "cfg":

Figure 11-30

Generating files in "cfg"

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Figure 11-31

Generating files in "lng"

Depending on the language, the SI user alarm files are generated in "Ing":

Using WinSCP, the files/directories are copied to card/user/sinumerik/hmi/cfg respectively, card/

user/sinumerik/hmi/lng - or card/oem/sinumerik/hmi/cfg respectively, card/oem/sinumerik/hmi/

lng.

These files must now be copied to the card using WINSCP:

Figure 11-32

Copying the files into the user directory using WinSCP

If files with the same name already exist on the CF card, then the contents of the generated files

should be supplemented in the already existing ones. Additional information on this is provided

in the readme.txt in the installation path of the alarm text converter.

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Figure 11-33

Extending slaesvcadapconf.xml

Figure 11-34

Extending slaesvcconf.xml

Generating, converting, and integrating SINUMERIK Operate safety user alarms COM files

Generating language-dependent COM files and converting into *.ts files

If there are no HMI Advanced files available, *.com files can be generated and converted into

files in the SINUMERIK Operate format using the "HMI solutionline alarm text converter".

Example of a syntax of a language-dependent *.com. File (e.g. alsi_gr.com / alsi_uk.com).

// Text extension for Alarms 27090 / 27254

;%4 = 000 error SPL protection (DB18.DBX36.0 / MD11500)

;%4 = 001...064: Error in system variables $A_INSE[01...64]

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;%4 = 065...128: Error in system variables $A_OUTSE[01...64]

;%4 = 129...192: Error in system variables $A_INSI[01...64]

;%4 = 193...256: Error in system variables $A_OUTSI[01...64]

;%4 = 257...320: Error in system variables $A_MARKERSI[01...64]

; SPL protection

000000 0 0 "User text for Safety--SPL--commissioning--status (DB18.DBX36.0) / MD11500”

;

000001 0 0 ”User text for INSE(P)01”

000002 0 0 "User text for INSE(P)02"

000063 0 0 "User text for INSE(P)63"

000064 0 0 "User text for INSE(P)64"

000065 0 0 "User text for OUTSE(P)01"

000066 0 0 "User text for OUTSE(P)02”

000127 0 0 "User text for OUTSE(P)63"

000128 0 0 "User text for OUTSE(P)64"

000129 0 0 "User text for OUTSE(P)01"

000130 0 0 "User text for OUTSE(P)02"

000191 0 0 "User text for INSI(P)63"

000192 0 0 "User text for INSI(P)64"

000193 0 0 "User text for OUTSE(P)01"

000194 0 0 "User text for OUTSE(P)02"

000255 0 0 "User text for OUTSI(P)63"

000256 0 0 "User text for OUTSI(P)64"

000257 0 0 "User text for MARKERSI(P)01”

000258 0 0 "User text for MARKERSI(P)02”

000319 0 0 "User text for MARKERSI(P)63"

000320 0 0 "User text for MARKERSI(P)64"

If the *.COM files have been generated, then the SINUMERIK Operate files can be converted as

described above.

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11.1.4

Trace bit graphics for Safety Integrated

General

The trace function is one of the measuring functions in the Diagnostics operating area. Using the

trace, for drive signals and NCK signals, measurements can be started by entering a measuring

time and trigger conditions. The results of the measurements are then graphically displayed.

The following variables are of interest:

• Trace for NC/PLC variables

Recording and graphical representation of the SERVO signal values with respect to time, such

as actual position value, following error, etc.

• Trace for drive variables

Recording and graphical representation of the signal values with respect to time from the

drive system, such as e.g. speed actual value, current actual value etc.

It must be possible for the signals to be recorded to be interconnected via a BICO source.

Starting the trace

The trace is called in the "Diagnostics" operating area → Menu forward key → "Trace"

Figure 11-35

Starting the servo trace

The variables can be selected using the "Insert variable" softkey. When inserting a variable, the

associated axis for the measurement is selected, [1] means axis X1. The variable is transferred

into the list and the list completed with "OK".

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11.2 NCK safety alarms for SINUMERIK 840D sl

Alarms for SINUMERIK Safety Integrated

The alarms that can occur in connection with the SI option are listed below:

14710

Channel %1 Block %2 Error in initialization sequence in function %3

Parameter

%1 = channel number

%2 = block number

%3 = identifier

Explanation

After the control has booted, (program)RESET and (program)START, depending on machine data MD20110

$MC_RESET_MODE_MASK and MD20112 $MC_START_MODE_MASK initialization blocks are generated (or not

generated as the case may be).

In this case, errors can occur due to incorrect machine data settings. The errors are output with the same error

messages, which are also issued if the function was incorrectly programmed in the part program.

In order to clearly indicate that an error refers to the initialization sequence, in addition, this alarm is generated.

Parameter %3 specifies which function initiated the alarm:

Control boot and (program) RESET:

Value:

0: Error when synchronizing, preprocessing/main run

1: Error when selecting the tool length compensation

2: Error when selecting the transformation

3: Error when selecting the work offset

When booting, the macro definitions and cycle interfaces are also read-in. If an error occurs here, then this is

signaled with value=4 or value=5.

6: Error when creating 2 1/2-D protection zones when booting (program) START

Value:

100: Error when synchronizing, preprocessing/main run

101: Error when selecting the tool length compensation

102: Error when selecting the transformation

103: Error when selecting the synchronous spindle

104: Error when selecting the work offset

It is especially important to note that when the tool manager is active, it is possible that a locked tool is in the

spindle or in the tool holder that in spite of this should be activated.

For RESET, these tools are activated without having to do anything else.

For START, in addition using MD22562 $MC_TOOL_CHANGE_ERROR_MODE it can be set as to whether an alarm

should be generated or an automatic bypass strategy should be selected.

If the parameter contains 3 values from 200 to 203, then this means that for certain commands (ASUB start,

select overstore, teach in) there are not enough NC blocks for NC block preparation.

Remedy: Increase MD28070 $MC_MM_NUM_BLOCKS_IN_PREP.

Response

Alarm display

Mode group not ready

NC start disable in this channel

Interface signals are set

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11.2 NCK safety alarms for SINUMERIK 840D sl

14710

Channel %1 Block %2 Error in initialization sequence in function %3

Remedy

Please inform the authorized personnel/service department

For parameter %3=0-3:

If the alarm(s) occur(s) at RESET:

Check the setting of machine data MD20110 $MC_RESET_MODE_MASK, MD20120 $MC_TOOL_RESET_VALUE,

MD20121 $MC_TOOL_PRESEL_RESET_VALUE, MD20122 $MC_TOOL_RESET_NAME (only when tool manage-

ment is active), MD20130 $MC_CUTTING_EDGE_RESET_VALUE, MD20132 $MC_SUMCOR_RESET_VALUE,

MD20126 $MC_TOOL_CARRIER_RESET_VALUE, MD20150 $MC_GCODE_RESET_VALUES, MD20154 $MC_EX-

TERN_GCODE_RESET_VALUES, MD20140 $MC_TRAFO_RESET_VALUE, MD21330 $MC_COUPLE_RE-

SET_MODE_1, MD24002 $MC_CHBFRAME_RESET_MASK.

For parameters %3= 100 -104:

Check the setting of MD20112 $MC_START_MODE_MASK and "..._RESET_..." specified under RESET machine

data. When the tool manager is active, possibly unload the tool - specified in the associated alarm - from

toolholder/spindle - or reset the "locked" state.

For parameters %3= 4 or 5:

Check the macrodefinitions in _N_DEF_DIR. Check cycle directories _N_CST_DIR and _N_CUS_DIR.

For parameter %3= 6:

In addition, Alarm 18002 or 18003 is output. This alarm contains the number of the incorrectly defined pro-

tection zone and an identifier defining what is incorrect in the protection zone definition. The system variables

must then be appropriately corrected.

For parameter %3= 200 to 203:

Increase MD28070 $MC_MM_NUM_BLOCKS_IN_PREP.

Program con-

Clear the alarm with the RESET key. Restart the part program.

tinuation

14751

Channel %1 Block %2 Insufficient resources for motion-synchronized actions (identifier: %3)

Parameter

%1 = channel number

%2 = block number

%3 = identifier

Explanation

To process motion synchronizing actions resources are required. They are configured using machine data

$MC_MM_IPO_BUFFER_SIZE, $MC_MM_NUM_BLOCKS_IN_PREP, $MC_MM_NUM_SAFE_SYNC_ELEMENTS,

$MC_MM_NUM_SYNC_ELEMENTS. If these resources are insufficient for executing the part program, then this

alarm is issued. The parameter %3 shows which resource has run out:

Identifier ≤ 2: increase $MC_MM_IPO_BUFFER_SIZE or $MC_MM_NUM_BLOCKS_IN_PREP.

Identifier > 2: increase $MC_MM_NUM_SYNC_ELEMENTS, $MC_MM_NUM_SAFE_SYNC_ELEMENTS.

Response

Alarm display

Interface signals are set

Remedy

Correct the part program or increase the resources.

Program con-

Clear the alarm with the RESET key. Restart the part program.

tinuation

15189

Channel %1 Block %2 Error executing SAFE.SPF

Parameter

%1 = channel number

%2 = block number, label

Explanation

When processing the NC initialization program for Safety Integrated /_N_CST_DIR/_N_SAFE_SPF an error has

occurred. Alarm 15189 is output together with the alarm that describes the cause of the error. The function is

activated with MD20108 $MC_PROG_EVENT_MASK, bit 5=1.

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11.2 NCK safety alarms for SINUMERIK 840D sl

15189

Channel %1 Block %2 Error executing SAFE.SPF

Response

NC stop for alarm

Remedy

Carry out an NCK reset (warm restart)

Program con-

Switch control system OFF and ON again.

tinuation

15420

Channel %1 Block %2 Instruction in actual mode not allowed

Parameter

%1 = channel number

%2 = block number, label

Explanation

The alarm is output in the following situations:

• When executing an INI file or definition file (macro or GUD), the interpreter has identified an illegal instruc-

tion (e.g. traversing command).

• In a GUD file, access protection to a machine data with REDEF is to be changed, although an ACCESS file

(_N_SACCESS_DEF, _N_MACCESS_DEF, _NUACCESS_DEF) is available. Access rights for machine data may

then only be changed using one of the ACCESS files with REDEF.

• When executing the safety initialization program /_N_CST_DIR/_N_SAFE_SPF, due to the reduced language

scope that was configured for the purpose, an illegal statement was identified.

Response

Interpreter stop

NC start disable in this channel

Interface signals are set

Alarm display

Remedy

• Correct INI, GUD, or macro file

• Correct part program

Program con-

Clear the alarm with the RESET key. Restart the part program.

tinuation

16964

Channel %1 executing init blocks not fully completed

Parameter

%1 = channel number

Explanation

When booting, init blocks are executed. These ensure that the control is correctly initialized. The alarm is output

if the execution was not able to be correctly ended (generally due to an already existing alarm).

Response

Alarm display

Remedy

Remove the existing alarm.

Program con-

Switch control system OFF and ON again.

tinuation

16965

Channel %1 SAFE.SPF run-up not completed

Parameter

%1 = channel number

Explanation

The alarm is initiated if the safety program /N_CST_DIR/N_SAFE_SPF should be executed when booting and was

not completed after four times the time, which is defined in MD $MN_SPL_START_TIMEOUT. One reason could

be an extremely long execution time of SAFE.SPF. The channel number specifies which channel is the cause of

the error.

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11.2 NCK safety alarms for SINUMERIK 840D sl

16965

Channel %1 SAFE.SPF run-up not completed

Response

Alarm display

NC not ready

NC start disable in this channel

Mode group not ready

Interface signals are set

NC stop for alarm

Remedy

Increase MD $MN_SAFE_SPL_START_TIMEOUT

Program con-

Clear the alarm with the RESET key. Restart the part program.

tinuation

20095

Axis %1 illegal holding torque, measured torque %2

Parameter

%1 = axis name, spindle number

%2 = measured holding torque when selecting the brake test

Explanation

The actually measured holding torque cannot be provided with the existing parameterization of the brake test.

Response

Alarm display

The function test of the mechanical brake system is aborted

The PLC block FB11 for the sequence control to test the mechanical brake system is exited with a fault (fault

detection = 2). This means that the request - "start brake test" - is not even effective for the axis.

Remedy

Check the actual parameterization of the function test of the mechanical braking system:

• The torque due to weight in drive parameter p1532 should be as far as possible equal to the currently

measured holding torque. The measured holding torque is displayed in this alarm.

• The holding torque for the brake test in MD $MA_SAFE_BRAKETEST_TORQUE must be parameterized higher

than the currently set holding torque.

Program con-

Clear the alarm with the Clear key or with NC-START.

tinuation

20096

Axis %1 brake test aborted, additional info %2

Parameter

%1 = axis name, spindle number

%2 = fault information, based on $VA_FXS_INFO

Explanation

The brake test has detected a problem. The additional information provides details of the cause of the alarm.

An explanation is provided in the documentation about the system variables $VA_FXS_INFO

Supplementary info:

0: No additional information available

1: Axis type is neither a PLC nor a command axis

2: Limit position reached, motion stopped

3: Interrupted by an axis RESET (DB31-61, DBB28 bit1)

4: Monitoring window exited

5: Torque reduction rejected by drive

6: PLC has withdrawn the enable signal

Response

Alarm display

Interface signals are set

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11.2 NCK safety alarms for SINUMERIK 840D sl

20096

Axis %1 brake test aborted, additional info %2

Remedy

Note the supplementary conditions of the brake test, refer to supplementary information

Program con-

Clear the alarm with the Clear key or with NC-START.

tinuation

20097

Axis %1 incorrect direction, brake test

Parameter

%1 = axis name, spindle number

Explanation

As a result of the selected traversing direction, the brake test is carried out for the existing load torque with an

incorrect torque.

Response

Alarm display

Remedy

• Carry out the brake test in the other traversing direction

• Adapt drive parameter p1532 more precisely to the actual situation. The alarm only occurs if the actual

torque deviates by more than 7.5% from SINAMICS parameter p1532

• Using MD $MA_SAFE_BRAKETEST_CONTROL, bit 0 = 1, activate the automatic load torque determination at

the beginning of the brake test.

Program con-

Clear the alarm with the Clear key or with NC-START.

tinuation

20149

Channel %1 Block %2 motion-synchronized action: Index invalid

Parameter

%1 = channel number

%2 = block number

Explanation

An invalid index was used when accessing a variable in the motion-synchronous action.

Example: ...DO $R[$AC_MARKER[1]] = 100

The error occurs if marker 1 has a higher value than the maximum permissible R-parameter number.

Response

NC start disable in this channel

Interface signals are set

Alarm display

NC stop for alarm

Remedy

Use a valid index.

Program con-

Clear the alarm with the RESET key. Restart the part program.

tinuation

22001

Channel %1 Block %2 Axis %3: Braking ramp longer than STOP D time. Reason: %4

Parameter

%1 channel number

%2 Block number

%3 Axis name

%4 identification of cause

Explanation

The actual axis dynamic performance is not sufficient to come to a standstill in time when a STOP D is initiated.

The reasons specified in parameter 4 are:

1: $MA_MAX_AX_ACCEL too low

2. $MA_MAX_AX_JERK too low

3. Excessively high acceleration reduction programmed with ACC

4. Excessively high jerk reduction programmed with JERKLIM

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11.2 NCK safety alarms for SINUMERIK 840D sl

22001

Channel %1 Block %2 Axis %3: Braking ramp longer than STOP D time. Reason: %4

Response

Alarm display

Remedy

Increase SAFE_STOP_SWITCH_TIME_D. Increase $MA_MAX_AX_ACCEL and $MA_MAX_AX_JERK. . Increase

programmed acceleration (ACC) or jerk (JERKIM)

Alarm can be suppressed using MD11415 $MN_SUPPRESS_ALARM_MASK_2 Bit 13

Program con-

Clear the alarm with the Clear key or with NC-START.

tinuation

22002

Channel %1 Spindle %2: Braking ramp longer than STOP D time. Gearbox stage %3. Reason: %4

Parameter

%1 channel number

%2 Spindle

%3 Gear stage

%4 identification of cause

Explanation

The configured dynamic values of the spindle are not sufficient to come to a standstill in time when a STOP D

is initiated. Parameter 3 contains the gear stage, whose braking time - from the configured dynamic values -

exceeds the STOP D time the most. Parameter 4 includes an ID for the MD involved:

10: Dynamic response for closed-loop speed control: MD35130 $MA_GEAR_STEP_MAX_VELO_LIMIT,

MD35200 $MA_GEAR_STEP_SPEEDCTRL_ACCEL

11: Dynamic response for closed-loop position control: MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT,

MD35210 GEAR_STEP_POSCTRL_ACCEL

21: Dynamic response for tapping using G331, G332: MD35135 $MA_GEAR_STEP_PC_MAX_VELO_LIMIT,

MD35212 GEAR_STEP_POSCTRL_ACCEL2

Response

Alarm display

Remedy

Increase MD36953 $MA_SAFE_STOP_SWITCH_TIME_D or reduce the braking time by changing the configured

dynamic response of the spindle. The alarm can be suppressed using MD11415 $MN_SUP-

PRESS_ALARM_MASK_2 bit 13

Program con-

Clear the alarm with the Clear key or with NC-START.

tinuation

27000

Axis %1 is not safely referenced

Parameter

%1 = axis name, spindle number

Explanation

There are two reasons for this alarm:

• the user has still not acknowledged the machine position,

• the machine position has not yet been verified through follow-up referencing.

Even if the axis is already referenced there is no acknowledgement that referencing has supplied the correct

result. For example, incorrect results can occur if the axis was moved after the control was powered-down - with

the result that the stop position saved prior to powering-down is no longer correct. To ensure that this does not

happen, the user must acknowledge the displayed actual position after the first referencing operation.

After the user agreement has been set for the first time, the axis must be subsequently referenced each time

that the control is booted (with absolute encoders, this subsequent referencing is automatically executed). This

procedure is carried out to verify the stop position saved prior to powering-down the control.

The alarm display can be set using MD10094 $MN_SAFE_ALARM_SUPPRESS_LEVEL (MD≥3) so that the group

alarm 27100 is displayed for all SI axes.

Response

Alarm display

The SGA "axis safely referenced" is not set. SE is disabled if the safe actual position has not yet been acknowl-

edged by the user agreement. If the user agreement is set, SE remains active. The Safe Cams are calculated and

output, but their significance is limited because referencing has not been acknowledged.

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Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27000

Axis %1 is not safely referenced

Remedy

Move the axis to a known position, change to the "referencing" mode and press the softkey "Agreement". Check

the positions displayed in the agreement screen at the machine. If these correspond to those expected at the

known position, confirm this using the toggle key. If the user agreement has already been set, re-reference the

axis.

The user agreement can only be changed in key-actuated switch setting 3 or after entering a password.

Warning:

If the axis has not been safely referenced and the user has not issued a user agreement, then the following

applies:

- the Safe Cams are still not safe.

- the safe limit positions are still not active

Program con-

The alarm is no longer displayed when the alarm cause has been removed. No other operator actions are

tinuation

required

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

Parameter

%1 = axis name, spindle number

%2 = supplementary information, crosswise data comparison index

%3 = supplementary information, comparison value, NCK

%4 = supplementary information, comparison value, drive

Explanation

The status of the safety-related monitoring functions are cyclically and mutually compared between the two

monitoring channels (NCK and drive). The comparison is carried out separately for each NCK/drive combination.

A criterion in a comparison list is compared between the NCK and drive in each monitoring clock cycle

(MD10091 $MN_INFO_SAFETY_CYCLE_TIME); the next criterion is compared in the next monitoring clock cycle

etc. Once the complete comparison list has been processed, the comparisons are processed again from the

beginning. The resulting total comparison time to process the list is displayed in MD10092 $MN_INFO_CROSS-

CHECK_CYCLE_TIME (factor x MD10091 $MN_INFO_SAFETY_CYCLE_TIME - the factor can differ depending on

the particular software version).

The "Defect in a monitoring channel" alarm is only output if the mutual comparison of the two monitoring

channels detects a difference between the input data or results of the monitoring. One of the monitoring

functions is no longer operating reliably.

The crosswise comparison index, output under %2, is also known as STOP F code. The STOP F code is also output

in Alarm 27001 where the NCK detected a crosswise comparison error for the first time. The STOP F code of the

drive (belonging to Alarm C01711) can be taken from the diagnostics screen or the drive parameter r9795. If a

difference is detected at several comparison steps, then also several STOP F code values can be displayed,

alternating, at these positions.

There are error profiles that are identified as a result of several comparison operations of the comparison list.

This means that the displayed STOP F code value doesn't always provide a clear statement regarding the cause

of the error. The associated procedure is then explained for each of the individual error codes.

No error has been detected in this monitoring channel. Alarm 27001 means that it involved one of the subse-

quent alarms (follow-on alarms) of alarm C01711 - and the valid STOP F code value is to be determined using

the diagnostics display or the drive parameter r9795.

For the monitoring functions SBH, SG, SBR or SE, a different state has occurred between the NCK and drive. The

actual status image (result list 1) is output from the NCK as supplementary input %3 (comparison value, NCK)

and the actual status image from the drive is output as supplementary info %4 (comparison value, drive). The

two supplementary infos are also saved in drive parameters r9710[0] (NCK) and r9710[1] (drive).

An example for evaluating the bit-coded result list is provided in the description of the drive machine data.

Remedy

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11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

The difference in the states between the drive and NCK should be determined and the function involved should

be investigated in more detail.

Example

State, NCK: SBH is active and ok

State, drive: SG1 is active and ok

The fault is caused due to the fact that the SGE "SBH deselection" is controlled differently. The signal source

should be checked on both the NCK and drive sides. Generally, the different control (in operation) is a result of

a hardware failure associated with the sensor signal involved. In the commissioning phase, the cause can also

be parameterizing or programming errors.

For the monitoring function SN or n < n_x, a different state has occurred between the NCK and drive.

The actual status image of the NCK (result list 2) is output as supplementary info %3 (comparison value NCK)

and the actual status image from the drive is output as supplementary info %4 (comparison value, drive). The

two result lists are also written to as parameter r9711[0] (NCK) and r9711[1] (drive). An example for evaluating

the bit-coded result list is provided in the description of the drive parameter.

Remedy

The difference in the states between the drive and NCK should be determined and the function involved should

be investigated in more detail.

The difference between the safe actual value NCK and drive is greater than that set in MD36942

$MA_SAFE_POS_TOL.

When using the actual value synchronization, the difference of the speed (determined based on the safety

actual values) is greater than that set in MD36949 $MA_SAFE_SLIP_VELO_TOL.

Remedy

Commissioning phase:

The encoder evaluation for the NCK and drive is not correctly set

→ correct the encoder evaluation.

In operation:

The actual values differ due to mechanical faults (transmission belts, traversing to mechanical limit, wear and

tolerance windows that have been set too narrow, encoder faults...)

- check the mechanical configuration and the encoder signals

4 not assigned

The setting in MD36901 $MA_SAFE_FUNCTION_ENABLE does not correspond with the associated drive pa-

rameter assignment.

Remedy

Copy SI data

The setting in MD36931 $MA_SAFE_VELO_LIMIT[0] does not correspond with the associated drive parameter

assignment.

Remedy

Copy SI data

The setting in MD36931 $MA_SAFE_VELO_LIMIT[1] does not correspond with the associated drive parameter

assignment.

Remedy

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11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

Copy SI data

The setting in MD36931 $MA_SAFE_VELO_LIMIT[2] does not correspond with the associated drive parameter

assignment.

Remedy

Copy SI data

The setting in MD36931 $MA_SAFE_VELO_LIMIT[3] does not correspond with the associated drive parameter

assignment.

Remedy

Copy SI data

The setting in MD36930 $MA_SAFE_STANDSTILL_TOL does not correspond with the associated drive parameter

assignment.

Remedy

Copy SI data

The setting in MD36934 $MA_SAFE_POS_LIMIT_PLUS[0] does not correspond with the associated drive pa-

rameter assignment.

Remedy

Copy SI data

The setting in MD36935 $MA_SAFE_POS_LIMIT_MINUS[0] does not correspond with the associated drive pa-

rameter assignment.

Remedy

Copy SI data

The setting in MD36934 $MA_SAFE_POS_LIMIT_PLUS[1] does not correspond with the associated drive pa-

rameter assignment.

Remedy

Copy SI data

The setting in MD36935 $MA_SAFE_POS_LIMIT_MINUS[1] does not correspond with the associated drive pa-

rameter assignment.

Remedy

Copy SI data

The setting in MD36936 $MA_SAFE_CAM_POS_PLUS[0] + MD36940 $MA_SAFE_CAM_TOL does not corre-

spond with the associated drive parameter assignment.

Remedy

Copy SI data

The setting in MD36936 $MA_SAFE_CAM_POS_PLUS[0] does not correspond with the associated drive param-

eter assignment.

Remedy

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11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

Copy SI data

The setting in MD36937 $MA_SAFE_CAM_POS_MINUS[0] + MD36940 $MA_SAFE_CAM_TOL does not corre-

spond with the associated drive parameter assignment.

Remedy

Copy SI data

The setting in MD36937 $MA_SAFE_CAM_POS_MINUS[0] does not correspond with the associated drive pa-

rameter assignment.

Remedy

Copy SI data

The setting in MD36936 $MA_SAFE_CAM_POS_PLUS[1] + MD36940 $MA_SAFE_CAM_TOL does not corre-

spond with the associated drive parameter assignment.

Remedy

Copy SI data

The setting in MD36936 $MA_SAFE_CAM_POS_PLUS[1] does not correspond with the associated drive param-

eter assignment.

Remedy

Copy SI data

The setting in MD36937 $MA_SAFE_CAM_POS_MINUS[1] + $MA_SAFE_CAM_TOL does not correspond with

the associated drive parameter assignment.

Remedy

Copy SI data

The setting in MD36937 $MA_SAFE_CAM_POS_MINUS[1] does not correspond with the associated drive pa-

rameter assignment.

Remedy

Copy SI data

The setting in MD36936 $MA_SAFE_CAM_POS_PLUS[2] + MD36940 $MA_SAFE_CAM_TOL does not corre-

spond with the associated drive parameter assignment.

Remedy

Copy SI data

The setting in MD36936 $MA_SAFE_CAM_POS_PLUS[2] does not correspond with the associated drive param-

eter assignment.

Remedy

Copy SI data

The setting in MD36937 $MA_SAFE_CAM_POS_MINUS[2] + MD36940 $MA_SAFE_CAM_TOL does not corre-

spond with the associated drive parameter assignment.

Remedy

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27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

Copy SI data

The setting in MD36937 $MA_SAFE_CAM_POS_MINUS[2] does not correspond with the associated drive pa-

rameter assignment.

Remedy

Copy SI data

The setting in MD36936 $MA_SAFE_CAM_POS_MINUS[3] + MD36940 $MA_SAFE_CAM_TOL does not corre-

spond with the associated drive parameter assignment.

Remedy

Copy SI data

The setting in MD36936 $MA_SAFE_CAM_POS_PLUS[3] does not correspond with the associated drive param-

eter assignment.

Remedy

Copy SI data

The setting in MD36937 $MA_SAFE_CAM_POS_MINUS[3] + MD36940 $MA_SAFE_CAM_TOL does not corre-

spond with the associated drive parameter assignment.

Remedy

Copy SI data

The setting in MD36937 $MA_SAFE_CAM_POS_MINUS[3] does not correspond with the associated drive pa-

rameter assignment.

Remedy

Copy SI data

The settings in MD36942 $MA_SAFE_POS_TOL. or MD36949 $MA_SAFE_SLIP_VELO_TOL do not correspond

with the associated drive parameter assignment.

Remedy

Copy SI data

The setting in MD36944 $MA_SAFE_REFP_POS_TOL does not correspond with the associated drive parameter

assignment.

Remedy

Copy SI data

The setting in MD36951 $MA_SAFE_VELO_SWITCH_DELAY does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36950 $MA_SAFE_MODE_SWITCH_TIME does not correspond with the associated drive pa-

rameter assignment.

Remedy

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11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

Copy SI data

The setting in MD36956 $MA_SAFE_PULSE_DISABLE_DELAY does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36957 $MA_SAFE_PULSE_DIS_CHECK_TIME does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36952 $MA_SAFE_STOP_SWITCH_TIME_C does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36953 $MA_SAFE_STOP_SWITCH_TIME_D does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36954 $MA_SAFE_STOP_SWITCH_TIME_E does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36961 $MA_SAFE_VELO_STOP_MODE does not correspond with the associated drive param-

eter assignment.

Remedy

Copy SI data

The setting in MD36962 $MA_SAFE_POS_STOP_MODE does not correspond with the associated drive param-

eter assignment.

Remedy

Copy SI data

The setting in MD36960 $MA_SAFE_STANDSTILL_VELO_TOL does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

Stop response, memory test.

44 - 57

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11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

Explanation

Error codes 44-57 cannot be clearly assigned to an error cause. For the monitoring functions that run internally

(e.g. SG), monitoring limits are internally generated that are referred to a monitoring clock cycle.

Example: SG1 = 2000 mm/min, monitoring clock cycle = 12 ms

If SG1 is active, then a check is made in every monitoring clock cycle (MCC) as to whether SG1 was exceeded.

This means that in MCC[n], based on the actual value, a positive and negative actual value limit is defined that

may not be exceeded in MCC[n+1] in order to still comply with SG1.

SG1 = 2000 mm/min = 33.33 mm/s = 0.4 mm/MCC (for each 12 ms)

If the axis moves more than 0.4 mm in a monitoring clock cycle, then SG1 would be violated.

The limit values, specified above, in MCC[n+1] are then

Positive: Position actual value (MCC[n]) + 0.4 mm

negative: position actual value (MCC[n]) -0.4 mm

The resulting monitoring limits (positive and negative) that are, in turn determined independently for both

monitoring channels (NCK and drive) are also compared just like the safe actual positions (refer to fault code 3).

The comparison is to check for a difference < MD36942 $MA_SAFE_POS_TOL.

If the difference is greater than MD36942 $MA_SAFE_POS_TOL, then the appropriate fault code is output.

The limit values are then re-generated and compared in every monitoring cycle independently of whether the

associated monitoring function is active or not.

This means that there are three possible causes for this fault code group.

Causes and remedy

Possible cause 1 (only when commissioning or changing the MD)

The tolerance value for the monitoring function is set differently for the NCK and drive. This situation actually

only occurs when commissioning the system or making changes and is generally already covered by the

previous fault codes.

Remedy:

Set the relevant machine data the same.

Possible cause 2 (in operation)

The limit values are determined based on the actual value. This means that when the safe actual values of the

NCK and drive differ then the limit values are also different by the defined clearance → i.e. the fault code

corresponds to the fault image of fault code 3. This is determined by checking the safe actual positions.

Remedy (refer to fault code 3)

Possible cause 3 (in operation)

The associated monitoring function is already active in a monitoring channel - while in the other monitoring

channel another monitoring function is still active.

This is the case if the safe actual positions of the NCK and drive do not differ but instead there is an entry in drive

parameters r9710/r9711 (and the 1 appears in parameter r9725) → i.e. the fault code corresponds to the fault

profile of fault code 1. This can also be identified using the fault message if for %3 = supplementary info

comparison value NCK or %4 = supplementary info comparison value drive no real limit value is output but only

the value of the calculated tolerance (refer to the example above (SG1 = 2000 mm/min = 0.4 mm/monitoring

clock cycle), a value of 400 would be displayed as 4%).

Remedy: refer to fault code 1.

Upper limit value for SG1 = position actual value + MD36931 $MA_SAFE_VELO_LIMIT[0] referred to a moni-

toring clock cycle

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

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11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

Lower limit value for SG1 = position actual value - MD36931 $MA_SAFE_VELO_LIMIT[0] referred to a monitor-

ing clock cycle

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Upper limit value for SG2 = position actual value + MD36931 $MA_SAFE_VELO_LIMIT[1] referred to a moni-

toring clock cycle

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Lower limit value for SG2 = position actual value - MD36931 $MA_SAFE_VELO_LIMIT[1] referred to a monitor-

ing clock cycle

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Upper limit value for SG3 = position actual value + MD36931 $MA_SAFE_VELO_LIMIT[2] referred to a moni-

toring clock cycle

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Lower limit value for SG3 = position actual value - MD36931 $MA_SAFE_VELO_LIMIT[2] referred to a monitor-

ing clock cycle

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Upper limit value for SG4 = position actual value + MD36931 $MA_SAFE_VELO_LIMIT[3] referred to a moni-

toring clock cycle

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Lower limit value for SG4 = position actual value - MD36931 $MA_SAFE_VELO_LIMIT[3] referred to a monitor-

ing clock cycle

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Upper limit value for SBH

Position actual value (when SBH is activated) + MD36930 $MA_SAFE_STANDSTILL_TOL.

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Lower limit value for SBH

Position actual value (when SBH is activated) - MD36930 $MA_SAFE_STANDSTILL_TOL.

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

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Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

Upper limit value for n < n_x (plus tolerance)

Position actual value + MD36946 $MA_SAFE_VELO_X (referred to a monitoring clock cycle) + MD36942

$MA_SAFE_POS_TOL.

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Upper limit value for n < n_x

Position actual value + MD36946 $MA_SAFE_VELO_X (referred to a monitoring clock cycle)

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Lower limit value for n<n_x

Position actual value - MD36946 $MA_SAFE_VELO_X (referred to a monitoring clock cycle)

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

Upper limit value for n<n_x (plus tolerance)

Position actual value + MD36946 $MA_SAFE_VELO_X (referred to a monitoring clock cycle) - MD36942

$MA_SAFE_POS_TOL.

Remedy

Refer to Section 44-57 (hidden fault code 3 or 1)

There is a difference in the active request for an external STOP. Two factors determine the resulting external

STOP request for a monitoring channel.

• The STOP requested via the SGE interface

• The STOP passed-through from the other monitoring channel

The STOP of the active request is specified as fine error code for the NCK and drive. The following values are

possible:

0 = no Stop

2 = Stop E

3 = Stop D

4 = Stop C

7 = STOP A

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[0] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[1] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

Safety Integrated (system-integrated)

604

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[2] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[3] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[4] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[5] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[6] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[7] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[8] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[9] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[10] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

Safety Integrated (system-integrated)

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

605

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[11] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[12] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[13] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[14] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36932 $MA_SAFE_VELO_OVR_FACTOR[15] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36946 $MA_SAFE_VELO_X or MD36947 $MA_SAFE_VELO_X_HYSTERESIS does not corre-

spond with the associated drive parameter assignment.

Remedy

Copy SI data

The setting in MD36963 $MA_SAFE_VELO_STOP_REACTION[0] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36963 $MA_SAFE_VELO_STOP_REACTION[1] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD36963 $MA_SAFE_VELO_STOP_REACTION[2] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

Safety Integrated (system-integrated)

606

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

The setting in MD36963 $MA_SAFE_VELO_STOP_REACTION[3] does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

Modulo value, Safe Cam $MA_SAFE_MODULO_RANGE

Remedy

Copy SI data

The setting in MD36948 $MA_SAFE_STOP_VELO_TOL does not correspond with the associated drive parameter

assignment.

Remedy

Copy SI data

When controlling the SG correction factor-SGEs[0..3] to select the SG correction factor a difference has occur-

red. If, as supplementary info for a monitoring channel, -1 is output this means that the SG-override function

isn't even active.

• SG2 and SG4 are not active.

• The function has not been enabled via function enable MD36901 / parameter p9501.

Remedy

Control the SG stage and check the SG-override signals and align the control.

The setting in MD36958 $MA_SAFE_ACCEPTANCE_TST_TIMEOUT does not correspond with the associated

drive parameter assignment.

Remedy

Copy SI data

The setting in MD36955 $MA_SAFE_STOP_SWITCH_TIME_F does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

The setting in MD10089 $MN_SAFE_PULSE_DIS_TIME_BUSFAIL does not correspond with the associated drive

parameter assignment.

Remedy

Copy SI data

Single-encoder system $MA_SAFE_SINGLE_ENC.

Remedy

Align machine data $MA_SAFE_SINGLE_ENC and drive parameter p9526.

Encoder assignment $MA_SAFE_ENC_INPUT_NR.

Remedy

Safety Integrated (system-integrated)

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

607

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

Set $MA_SAFE_ENC_INPUT_NR and drive parameter p9526 so that they are equal.

Cam enable: The setting in MD36903 $MA_SAFE_CAM_ENABLE does not correspond with the drive parameter

assignment.

Remedy

Copy SI data

The settings for the encoder limit frequency do not match in the two monitoring channels.

Remedy

Replace the hardware.

Cam SGA differ by more than the tolerance

Remedy

Cam positions, check $MA_SAFE_CAM_TOL

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[4] + MD36940 $MA_SAFE_CAM_TOL does

not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 5+ (+ tolerance). Enter the same MD.

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[4] does not correspond with the associated

drive parameter assignment.

Remedy

Safe Cam 5+. Enter the same MD.

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[4] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 5- (+ tolerance). Enter the same MD.

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[4] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 5-. Enter the same MD.

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[5] + MD36940 $MA_SAFE_CAM_TOL does

not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 6+ (+ tolerance). Enter the same MD.

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[5] does not correspond with the associated

drive parameter assignment.

Remedy

Safe Cam 6+. Enter the same MD.

Safety Integrated (system-integrated)

608

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[5] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 6- (+ tolerance). Enter the same MD.

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[5] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 6-. Enter the same MD.

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[6] + MD36940 $MA_SAFE_CAM_TOL does

not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 7+ (+ tolerance). Enter the same MD.

100

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[6] does not correspond with the associated

drive parameter assignment.

Remedy

Safe Cam 7+. Enter the same MD.

101

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[6] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 7- (+ tolerance). Enter the same MD.

102

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[6] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 7-. Enter the same MD.

103

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[7] + MD36940 $MA_SAFE_CAM_TOL does

not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 8+ (+ tolerance). Enter the same MD.

104

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[7] does not correspond with the associated

drive parameter assignment.

Remedy

Safe Cam 8+. Enter the same MD.

105

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[7] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 8- (+ tolerance). Enter the same MD.

Safety Integrated (system-integrated)

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

609

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

106

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[7] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 8-. Enter the same MD.

107

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[8] + MD36940 $MA_SAFE_CAM_TOL does

not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 9+ (+ tolerance). Enter the same MD.

108

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[8] does not correspond with the associated

drive parameter assignment.

Remedy

Safe Cam 9+. Enter the same MD.

109

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[8] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 9- (+ tolerance). Enter the same MD.

110

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[8] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 9-. Enter the same MD.

111

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[9] + MD36940 $MA_SAFE_CAM_TOL does

not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 10+ (+ tolerance). Enter the same MD.

112

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[9] does not correspond with the associated

drive parameter assignment.

Remedy

Safe Cam 10+. Enter the same MD.

113

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[9] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cams 10- (+tolerance). Enter the same MD.

114

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[9] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cams 10-. Enter the same MD.

Safety Integrated (system-integrated)

610

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

115

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[10] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 11+ (+ tolerance). Enter the same MD.

116

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[10] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 11+. Enter the same MD.

117

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[10] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cams 11- (+tolerance). Enter the same MD.

118

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[10] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cams 11-. Enter the same MD.

119

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[11] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 12+ (+ tolerance). Enter the same MD.

120

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[11] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 12+. Enter the same MD.

121

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[11] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 12- (+tolerance). Enter the same MD

122

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[11] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 12-. Enter the same MD.

123

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[12] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 13+ (+ tolerance). Enter the same MD.

Safety Integrated (system-integrated)

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

611

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

124

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[12] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 13+. Enter the same MD.

125

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[12] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 13- (+tolerance). Enter the same MD.

126

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[12] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 13-. Enter the same MD.

127

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[13] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 14+ (+ tolerance). Enter the same MD.

128

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[13] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 14+. Enter the same MD.

129

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[13] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 14- (+tolerance). Enter the same MD.

130

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[13] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 14-. Enter the same MD.

131

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[14] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 15+ (+ tolerance). Enter the same MD.

132

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[14] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 15+. Enter the same MD.

Safety Integrated (system-integrated)

612

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

133

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[14] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 15- (+tolerance). Enter the same MD.

134

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[14] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 15-. Enter the same MD.

135

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[15] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 16+ (+ tolerance). Enter the same MD.

136

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[15] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 16+. Enter the same MD.

137

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[15] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 16- (+tolerance). Enter the same MD.

138

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[15] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 16-. Enter the same MD.

139

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[16] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 17+ (+ tolerance). Enter the same MD.

140

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[16] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 17+. Enter the same MD.

141

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[16] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 17- (+tolerance). Enter the same MD.

Safety Integrated (system-integrated)

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

613

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

142

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[16] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 17-. Enter the same MD.

143

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[17] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 18+ (+ tolerance). Enter the same MD.

144

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[17] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 18+. Enter the same MD.

145

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[17] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 18- (+tolerance). Enter the same MD.

146

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[17] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 18-. Enter the same MD.

147

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[18] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 19+ (+ tolerance). Enter the same MD.

148

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[18] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 19+. Enter the same MD.

149

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[18] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 19- (+tolerance). Enter the same MD.

150

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[18] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 19-. Enter the same MD.

Safety Integrated (system-integrated)

614

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

151

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[19] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 20+ (+ tolerance). Enter the same MD.

152

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[19] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 20+. Enter the same MD.

153

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[19] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 20- (+tolerance). Enter the same MD.

154

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[19] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 20-. Enter the same MD.

155

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[20] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 21+ (+ tolerance). Enter the same MD.

156

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[20] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 21+. Enter the same MD.

157

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[20] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 21- (+tolerance). Enter the same MD.

158

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[20] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 21-. Enter the same MD.

159

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[21] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 22+ (+ tolerance). Enter the same MD.

Safety Integrated (system-integrated)

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

615

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

160

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[21] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 22+. Enter the same MD.

161

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[21] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 22- (+tolerance). Enter the same MD.

162

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[21] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 22-. Enter the same MD.

163

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[22] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 23+ (+ tolerance). Enter the same MD.

164

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[22] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 23+. Enter the same MD.

165

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[22] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 23- (+tolerance). Enter the same MD.

166

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[22] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 23-. Enter the same MD.

167

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[23] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 24+ (+ tolerance). Enter the same MD.

168

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[23] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 24+. Enter the same MD.

Safety Integrated (system-integrated)

616

Function Manual, 10/2020, 6FC5397-4BP40-6BA2

Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

169

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[23] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 24- (+tolerance). Enter the same MD.

170

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[23] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 24-. Enter the same MD.

171

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[24] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 25+ (+ tolerance). Enter the same MD.

172

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[24] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 25+. Enter the same MD.

173

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[24] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 25- (+tolerance). Enter the same MD.

174

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[24] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 25-. Enter the same MD.

175

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[25] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 26+ (+ tolerance). Enter the same MD.

176

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[25] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 26+. Enter the same MD.

177

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[25] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 26- (+tolerance). Enter the same MD.

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Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

178

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[25] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 26-. Enter the same MD.

179

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[26] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 27+ (+ tolerance). Enter the same MD.

180

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[26] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 27+. Enter the same MD.

181

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[26] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 27- (+tolerance). Enter the same MD.

182

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[26] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 27-. Enter the same MD.

183

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[27] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 28+ (+ tolerance). Enter the same MD.

184

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[27] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 28+. Enter the same MD.

185

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[27] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 28- (+tolerance). Enter the same MD.

186

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[27] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 28-. Enter the same MDs.

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Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

187

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[28] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 29+ (+ tolerance). Enter the same MD.

188

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[28] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 29+. Enter the same MD.

189

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[28] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 29- (+tolerance). Enter the same MD.

190

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[28] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 29-. Enter the same MD.

191

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[29] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 30+ (+ tolerance). Enter the same MD.

192

Cam position: the setting in MD36936 $MA_SAFE_CAM_POS_PLUS[29] does not correspond with the associ-

ated drive parameter assignment.

Remedy

Safe Cam 30+. Enter the same MD.

193

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[29] + MD36940 $MA_SAFE_CAM_TOL

does not correspond with the associated drive parameter assignment.

Remedy

Safe Cam 30- (+tolerance). Enter the same MD.

194

Cam position: the setting in MD36937 $MA_SAFE_CAM_POS_MINUS[29] does not correspond with the asso-

ciated drive parameter assignment.

Remedy

Safe Cam 30-. Enter the same MD.

195

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[0] does not correspond with

the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN1. Enter the same MDs and check the cam enable and cam parameterization

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Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

196

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[1] does not correspond with

the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN2. Enter the same MDs and check the cam enable and cam parameterization

197

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[2] does not correspond with

the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN3. Enter the same MDs and check the cam enable and cam parameterization

198

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[3] does not correspond with

the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN4. Enter the same MDs and check the cam enable and cam parameterization

199

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[4] does not correspond with

the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN5. Enter the same MDs and check the cam enable and cam parameterization

200

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[5] does not correspond with

the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN6. Enter the same MDs and check the cam enable and cam parameterization

201

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[6] does not correspond with

the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN7. Enter the same MDs and check the cam enable and cam parameterization

202

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[7] does not correspond with

the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN8. Enter the same MDs and check the cam enable and cam parameterization

203

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[8] does not correspond with

the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN9. Enter the same MDs and check the cam enable and cam parameterization

204

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[9] does not correspond with

the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN10. Enter the same MDs and check the cam enable and cam parameterization

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Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

205

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[10] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN11. Enter the same MDs and check the cam enable and cam parameterization

206

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[11] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN12. Enter the same MDs and check the cam enable and cam parameterization

207

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[12] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN13. Enter the same MDs and check the cam enable and cam parameterization

208

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[13] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN14. Enter the same MDs and check the cam enable and cam parameterization

209

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[14] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN15. Enter the same MDs and check the cam enable and cam parameterization

210

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[15] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN16. Enter the same MDs and check the cam enable and cam parameterization

211

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[16] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN17. Enter the same MDs and check the cam enable and cam parameterization

212

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[17] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN18. Enter the same MDs and check the cam enable and cam parameterization

213

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[18] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN19. Enter the same MDs and check the cam enable and cam parameterization

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Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

214

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[19] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN20. Enter the same MDs and check the cam enable and cam parameterization

215

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[20] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN21. Enter the same MDs and check the cam enable and cam parameterization

216

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[21] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN22. Enter the same MDs and check the cam enable and cam parameterization

217

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[22] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN23. Enter the same MDs and check the cam enable and cam parameterization

218

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[23] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN24. Enter the same MDs and check the cam enable and cam parameterization

219

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[24] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN25. Enter the same MDs and check the cam enable and cam parameterization

220

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[25] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN26. Enter the same MDs and check the cam enable and cam parameterization

221

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[26] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN27. Enter the same MDs and check the cam enable and cam parameterization

222

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[27] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN28. Enter the same MDs and check the cam enable and cam parameterization

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Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

223

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[28] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN29. Enter the same MDs and check the cam enable and cam parameterization

224

Cam track assignment: the setting in MD36938 $MA_SAFE_CAM_TRACK_ASSIGN[29] does not correspond

with the associated drive parameter assignment or the cam enable is different.

Remedy

Cam track assignment SN30. Enter the same MDs and check the cam enable and cam parameterization

225

For the "Safe Cam Track" monitoring function there is a different status between the NCK and drive for cams SN1

to SN6. The actual status image of the NCK (result list 3) is output as supplementary info %3 (comparison value

NCK) and the actual status image from the drive is output as %4.

Supplementary infos %3 and %4 are also saved in drive parameters r9735[0] (NCK) and r9735[1] (drive).

Remedy

Result list 3. Check the tolerance of the cams, evaluate the fault code in drive parameter r9735[0,1].

226

For the "Safe Cam Track" monitoring function there is a different status between the NCK and drive for cams SN7

to SN12. The actual status image of the NCK (result list 4) is output as supplementary info %3 (comparison value

NCK) and the actual status image from the drive is output as %4.

Supplementary infos %3 and %4 are also saved in drive parameters r9736[0] (NCK) and r9736[1] (drive).

Remedy

Result list 4. Check the tolerance of the cams, evaluate the fault code in drive parameter r9736[0,1].

227

For the "Safe Cam Track" monitoring function there is a different status between the NCK and drive for cams

SN13 to SN18. The actual status image of the NCK (result list 5) is output as supplementary info %3 (comparison

value NCK) and the actual status image from the drive is output as %4.

Supplementary infos %3 and %4 are also saved in drive parameters r9737[0] (NCK) and r9737[1] (drive).

Remedy

Result list 5. Check the tolerance of the cams, evaluate the fault code in drive parameter r9737[0,1].

228

For the "Safe Cam Track" monitoring function there is a different status between the NCK and drive for cams

SN19 to SN24. The actual status image of the NCK (result list 6) is output as supplementary info %3 (comparison

value NCK) and the actual status image from the drive is output as %4.

Supplementary infos %3 and %4 are also saved in drive parameters r9738[0] (NCK) and r9738[1] (drive).

Remedy

Result list 6. Check the tolerance of the cams, evaluate the fault code in drive parameter r9738[0,1].

229

For the "Safe Cam Track" monitoring function there is a different status between the NCK and drive for cams

SN25 to SN30. The actual status image of the NCK (result list 7) is output as supplementary info %3 (comparison

value NCK) and the actual status image from the drive is output as %4.

Supplementary infos %3 and %4 are also saved in drive parameters r9739[0] (NCK) and r9739[1] (drive).

Remedy

Result list 7. Check the tolerance of the cams, evaluate the fault code in drive parameter r9739[0,1].

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Diagnostics

11.2 NCK safety alarms for SINUMERIK 840D sl

27001

Axis %1 error in a monitoring channel, Code%2, values: NCK%3, drive %4

230

Filter time constant for n<n_x: the calculation or setting in MD36945 $MA_SAFE_VELO_X_FILTER_TIME does not

correspond with the associated drive value.

Remedy

Copy SI data

231

Velocity hysteresis n<x: the setting in MD36947 $MA_SAFE_VELO_X_HYSTERESIS does not correspond with the

associated drive parameter assignment.

Remedy

Copy SI data

232

Smoothed actual velocity value for n<n_x does not correspond with the drive value. The filtering must be deac-

tivated if, as a result of the configured acceleration levels or velocities, CDC errors do occur.

Remedy

Increase MD36947 $MA_SAFE_VELO_X_HYSTERESIS. Set MD36945 $MA_SAFE_VELO_X_FILTER_TIME higher

233

Velocity actual value n_x: Upper limit value for n<n_x: MD36946$MA_SAFE_VELO_X (only valid, if synchronization

function n<n_x active).

Remedy

Check MD36946 $MA_SAFE_VELO_X, MD36947 $MA_SAFE_VELO_X_HYSTERESIS.

234

Velocity actual value n_x+ tol: Upper limit value for n<n_x - tolerance: MD36946 $MA_SAFE_VELO_X - MD36947

$MA_SAFE_VELO_X_HYSTERESIS (only valid, if synchronization function n<n_x active).

Remedy

Check MD36946 $MA_SAFE_VELO_X, MD36947 $MA_SAFE_VELO_X_HYSTERESIS

235

Velocity actual value -n_x+ tol: lower limit value for n<nx + tolerance: -MD36946 $MA_SAFE_VELO_X + MD36947

$MA_SAFE_VELO_X_HYSTERESIS (only valid if synchronization function n<n_xactive).

Remedy

Check MD36946 $MA_SAFE_VELO_X, MD36947 $MA_SAFE_VELO_X_HYSTERESIS.

236

Velocity actual value -n_x: lower limit value for n<n_x: -MD36946 $MA_SAFE_VELO_X (only valid if synchroniza-

tion function n<n_x active)

Remedy

Check MD36946 $MA_SAFE_VELO_X, MD36947 $MA_SAFE_VELO_X_HYSTERESIS.

237

SGA n<n_x out of tolerance, different.

Remedy

Check $MA_SAFE_VELO_X_HYSTERESIS

238 - 255 not assigned

256

Result list 1 (see cross comparison value 1)

257 - 264 not assigned

265

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SINUMERIK 840D sl. Service - Safety Integrated. Manual (2020) - page 9