Code 201796: <location>SI Motion CU: Wait for communication

Message value: Drive object: SERVO, VECTOR Reaction: NONE Acknowledge: NONE Cause: The drive waits for communication to be established wi th SINUMERIK or TM54F to execute the safetyrelevant motion monitoring functions. Note: In this state, the pulses are safely suppressed. Remedy: After a longer period of time, if the message is not automatically withdrawn, the following checks should be made dependent on the communication: For communication with SINUMERIK, the following applies: - check additional messages that are present regarding PROFIBUS communication and resolve. - check the correct assignment of the axes on the hi gher-level control to the drives in the drive unit. - check the enable signal of the safety-relevant mo tion monitoring functions fo r the corresponding axis on the higher-level control - and if required, set For communication with TM54F, the following applies: - check additional messages that are present regarding DRIVE-CLiQ communication with TM54F and resolve. - check the setting of p10010. All of the drive obj ects controlled by the TM54F must be listed. See also: p9601 (SI enable, functions integrated in the drive (Control Unit)), p9801 (SI enable, functions integrated in the drive (Motor Mo dule)), p10010 (SI drive object assignment)