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Chapter 7
Troubleshooting the Kinetix 6000M System
General System Anomalies
92
These anomalies do not always result in a fault code, but may require
troubleshooting to improve performance.
Condition
Potential Cause
Axis or system is
Unintentionally in Torque mode.
unstable.
IDM unit tuning limits are set too high.
Position loop gain or position controller
accel/decel rate is improperly set.
Mechanical resonance.
You cannot obtain the
Torque Limit limits are set too low.
acceleration/
The system inertia is excessive.
deceleration that you
want.
The system friction torque is excessive.
Available current is insufficient to supply
the correct accel/decel rate.
Acceleration limit is incorrect.
Velocity Limit limits are incorrect.
IDM unit does not
The axis cannot be enabled for 1.5
respond to a velocity
seconds after disabling.
command.
The IDM wiring is open.
The IDM thermal switch has tripped.
The IDM unit has malfunctioned.
The coupling between IDM unit and
machine has broken (for example, the IDM
unit moves, but the load/machine does
not).
Primary operation mode is set incorrectly.
Velocity or current limits are set
incorrectly.
Presence of noise on
Recommended grounding per installation
wires/cables.
instructions have not been followed.
Line frequency may be present.
Sercos ring not phasing
Duplicate node settings.
up.
Incompatible data rates.
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Possible Solution
Check to see what primary operation mode
was programmed.
Run Tune in RSLogix 5000 software.
Run Tune in RSLogix 5000 software.
Notch filter or output filter may be required
(refer to Axis Properties dialog box, Output tab
in RSLogix 5000 software).
Verify that current limits are set properly.
• Check IDM unit size versus application
need.
• Review servo system sizing.
Check IDM unit size versus application need.
• Check IDM size versus application need.
• Review servo system sizing.
Verify limit settings and correct them, as
necessary.
Verify limit settings and correct them, as
necessary.
Disable the axis, wait for 1.5 seconds, and
enable the axis.
Replace the IDM unit.
• Check for a fault.
• Check the wiring.
Replace the IDM unit.
Check and correct the mechanics.
Check and properly set the limit.
Check and properly set the limits.
• Verify grounding.
• Route wire away from noise sources.
• Refer to System Design for Control of
Electrical Noise, publication GMC-RM001.
• Verify grounding.
• Route wire away from noise sources.
Change the node address.
Verify that the data rate is set to 8 Mbps for all
Kinetix 6000 modules.
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