Allen-Bradley Kinetix 6200 User Manual page 204

Chapter 8 Troubleshoot the Kinetix 6200 and Kinetix 6500 Drive System
Table 87 - FLT Sxx Fault Codes (continued)
Four-character Display Message Logix Designer Fault Message
FLT S52...POS SW OTRAVEL
Software Overtravel - Positive
(Kinetix 6200 drives only)
FLT S53...NEG SW OTRAVEL
Software Overtravel - Negative
(Kinetix 6200 drives only)
FLT S54...POSN ERROR Excessive Position Error
FLT S55...VEL ERROR nn Excessive Velocity Error
FLT S56...OVERTORQUE
Overtorque Limit
(Kinetix 6500 drives only)
FLT S57...UNDERTORQUE
Undertorque Limit
(Kinetix 6500 drives only)
FLT S60...ILLEGAL MODE Illegal Control mode
FLT S61...ENABLE INPUT Drive Enable Input
FLT S62...CONTROLLER
Controller Initiated Exception
(Kinetix 6500 drives only)
204
Problem or Symptom
Axis position exceeded maximum software setting.
Position error limit was exceeded.
The velocity error has exceeded a limit
for a period of time. The nn sub-code is
defined as follows:
00: Velocity error referenced to the
velocity loop feedback.
01: Velocity error referenced to the
nonvelocity feedback (in dual-feedback
configurations).
Motor torque has exceeded a user-
programmable setting.
Motor torque has fallen below a user-
programmable setting.
An illegal mode of operation was
attempted.
The hardware enable input was
deactivated while the drive was
enabled.
The controller has requested the drive
to generate an exception.
Rockwell Automation Publication 2094-UM002G-EN-P - August 2016
Potential Cause Possible Resolution
• Verify motion profile.
• Verify overtravel settings are appropriate.
• Increase the feed forward gain.
Improperly sized drive or • Increase following error limit or time.
motor. • Check position loop tuning.
• Verify sizing of system.
• Verify mechanical integrity of system within
Mechanical system out of
specification limits.
specifications.
• Check motor power wiring.
• Increase velocity error limit or time.
Improperly sized drive or
• Check velocity loop tuning.
motor.
• Verify sizing of system.
• Verify mechanical integrity of system within
Mechanical system out of specification limits.
specifications. • Check motor power wiring.
• Reduce acceleration.
• Verify motion profile.
• Overly aggressive motion
• Verify Overtorque settings are appropriate.
profile
• Verify sizing of system.
• Mechanical binding
• Verify torque offset
Mechanical system out of • Verify mechanical integrity of system within
specifications. specification limits.
• Improperly configured
limit
• Verify motion profile.
• Improperly configured
• Verify Overtorque settings are appropriate.
motion
• Verify sizing of system.
• Improperly drive/motor
sizing
Mechanical system out of • Verify mechanical integrity of system within
specifications. specification limits.
Axis 1 was configured for
dual feedback or load
• Use Aux Feedback for one axis only.
feedback with Axis 2 also
• Verify Axis 1 and Axis 2 have identical
configured for Feedback Only
feedback configuration for aux feedback.
operation, but with different
feedback attribute values.
An attempt was made to
enable the axis through
software while the Drive Disable the Drive Enable Input fault.
Enable hardware input was
inactive.
The Drive Enable input
Verify that Drive Enable hardware input is active
transitioned from active to
whenever the drive is enabled through
inactive while the axis was
software.
enabled.
• Move axis out of soft overtravel range.
User configured software • Clear soft overtravel fault.
overtravel • Check soft overtravel configuration.
• Consult controller documentation.