cause : Reference block for dynamic safely limited speed invalid comes when the reference block transferred via PROFIsafe is negative. A reference block is used to generate a referred velocity limit value based on the reference quantity "Velocity limit value SLS1" (p9531[0]).

1. The drive is stopped as a result of the configured stop response (p9563[0]).
2. In the PROFIsafe telegram, input data S_SLS_LIMIT_IST must be corrected.

This message can be acknowledged as follows:

- motion monitoring functions integrated in the drive: Via Terminal Module 54F (TM54F) or PROFIsafe
- motion monitoring functions with SINUMERIK: Via the machine control panel