Siemens Sinumerik 840D sl Function Manual page 593

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In this case, the motor must be replaced carefully observing the Description,
motor with absolute value encoder. This is because it is necessary to recali-
brate the absolute value encoder. When recalibrating the system, we recommend
that you permanently select the 1st position measuring system and the axis is only
traversed using the motor measuring system.
Replacing the encoder modules
When replacing the encoder modules (SMC, SME, DRIVE--CLiQ encoders) or
when replacing motors with integrated encoders (motor with DRIVE--CLiQ), a
change to the configuration of the safety--related components is detected, and a
request is made that a service person acknowledges this.
After at least one of these encoder components has been replaced, Alarm 27035
"Axis %1 new HW component, acknowledgment and function test required" is out-
put (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).
© Siemens AG 2015 All Rights Reserved
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
Commissioning
9.6 Replacing a motor or encoder
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