Code 201670: <location>SI Motion: Invalid parameterization Sensor Module

Message value: %1 Drive object: SERVO, VECTOR Reaction: OFF2 Acknowledge: IMMEDIATELY (POWER ON) Cause: The parameterization of a Sensor Module used for Safety Integrated is not permissible. Note: This fault results in a STOP A that cannot be acknowledged. Fault value (r0949, interpret decimal): 1: No encoder was parameterized for Safety Integrated. 2: An encoder was parameterized for Safety Integrat ed that does not have an A/B track (sine/cosine). 3: The encoder data set selected for Safety Integrated is still not valid. 4: A communication error with the encoder has occurred. 10: For an encoder used for Safety Integrated, not al l of the Drive Data Sets (DDS) are assigned to the same Encoder Data Set (EDS) (p0187... p0189). SINAMICS-Alarms Remedy: Re fault value = 1, 2: - use and parameterize an encoder that Safety Integr ated supports (encoder with track A/B sine-wave, p0404.4 = 1). Re fault value = 3: - check whether the drive or drive commissioning func tion is active and if required, exit this (p0009 = p00010 = 0), save the parameters (p0971 = 1) and carry out a POWER ON Re fault value = 4: - check whether there is a DRIVE-CLiQ communicati on error between the Control Unit and the Sensor Module involved and if required, carry out a di agnostics routine for the faults identified. Re fault value = 10: - align the EDS assignment of all of the enc oders used for Safety Integrated (p0187... p0189). Note: SI: Safety Integrated