Code 201686: <location>SI Motion: Illegal parameterization cam position

Message value: %1 Drive object: SERVO, VECTOR Reaction: OFF2 Acknowledge: IMMEDIATELY (POWER ON) Cause: At least one enabled "Safety Cam" (SCA) is parameterized in p9536 or p9537 too close to the tolerance range around the modulo position. The following conditions must be complied with to assign cams to a cam track: - the cam length of cam x = p9536[x]-p9537[x] must be greater or equal to the cam tolerance + the position tolerance (= p9540 + p9542). This also means that for cams on a cam track, the minus position value must be less than the plus position value. - the distance between 2 cams x and y (minus posit ion value[y] - plus position value[x] = p9537[y] p9536[x]) on a cam track must be greater than or equal to the cam tolerance + position tolerance (= p9540 + p9542). Note: This fault does not result in a safety stop response. Fault value (r0949, interpret decimal): Number of the "Safe Cam" with an illegal position. See also: p9501 (SI Motion enable safety functions (Control Unit)) Remedy: Correct the cam position and carry out a POWER ON. Note: SCA: Safe Cam / SN: Safe software cam SI: Safety Integrated See also: p9536, p9537