Allen-Bradley Kinetix 6000M User Manual page 96

Chapter 7 Troubleshooting the Kinetix 6000M System
Table 22 - Exception/Fault Behavior (continued)
IPIM Display
IDM Status
(RSLogix Drive Fault) Indicator
E06 – Positive/Negative Hard Flashing
Overtravel Red
(Pos/NegHardOvertravelFault)
E09 – Bus Under Voltage Flashing
Red
(DriveUndervoltageFault)
E10 – Bus Over Voltage Flashing
Red
(DriveOvervoltageFault)
E16 – Positive/Negative Soft Flashing
Overtravel Red
(Pos/NegSoftOvertravelFault)
E18 – Over Speed Flashing
Red
(OverspeedFault)
E19 – Follow Error Flashing
Red
(PositionErrorFault)
E30 – Motor Feedback Comm Flashing
Red
(MotFeedbackFault)
E37 – Phase Loss Flashing
Red
(PowerPhaseLossFault)
E38 – Sercos Ring Flt Flashing
Red
(SercosFault)
E43 – Drive Enable Flt Flashing
Red
(DriveEnableInputFault)
E48 – Internal Solid Red
Communications Fault
(DriveHardFault)
E49 – Safety Fault Flashing
Red
(DriveHardFault)
E50 – Sercos Same Addr Solid Red
(SercosRingFault)
E54 – Current Feedback Solid Red
Hardware Fault
(DriveHardFault)
E65 – Hookup Flashing
Red
(DriveHardFault)
96
Potential Cause
Axis moved beyond the physical travel
limits in the positive/negative
direction.
DC bus voltage fell below the
undervoltage limit while the axis was
enabled.
The DC bus voltage is above limits.
Positive/Negative software overtravel
limit exceeded.
Excessive IDM unit speed.
Excessive position error.
Error communicating with position
feedback device.
Problem with the AC power connection
on IAM module.
Lost sercos communications.
Missing IPIM module Enable input
signal.
Noise or hardware failure on the I2C or
SPI bus.
Safe-off input timing mismatch.
Duplicate node address detected on
sercos ring.
Excessive feedback current was
detected.
Hookup procedure failed.
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Possible Solution
• Verify motion profile.
• Verify axis configuration in software.
• Disable prior to removing power.
• Check wiring.
• Change the deceleration or motion profile.
• Use a larger IDM unit.
• Install shunt module.
• Verify motion profile.
• Verify overtravel settings are appropriate.
• Check tuning.
• Verify user limit.
• Increase the feed forward gain.
• Increase following error limit or time.
• Check position loop tuning.
• Verify sizing of system.
• Verify mechanical integrity of system
within specification limits.
• Cycle power.
• If fault persists, replace IDM unit.
• Check IAM input AC voltage on all phases.
• Disable the IDM unit before removing
power.
• Check that sercos cable is present and
connected properly.
• Disable the IPIM module Enable hardware
input fault.
• Verify that IPIM module Enable hardware
input is active whenever the IPIM module
is enabled.
• Power Cycle.
• If fault persists, replace IDM unit.
• Verify wire terminations, cable/header
connections, and +24V.
• Reset error and run proof test.
• If fault persists, replace module.
• Verify that each sercos module is assigned
a unique node address.
• Power Cycle.
• If fault persists, replace IDM unit.
• Check IDM unit power/feedback wiring.
• Refer to RSLogix 5000 on-screen message
for resolution.
RSLogix
Programmable
Fault Action Fault Behavior
Yes Decel/Disable
No Coast/Disable/
Open Contactor
Enable
No Coast/Disable/
Open Contactor
Enable
Yes Decel/Disable
No Coast/Disable
Yes Coast/Disable
No Decel/Disable
No Decel/Disable
No Decel/Disable
Yes Decel/Disable
No Coast/Disable/
Open Contactor
Enable
No Coast/Disable/
Open Contactor
Enable
No Decel/Disable
No Coast/Disable/
Open Contactor
Enable
No Coast/Disable