396 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 14 Absolute Position Recovery
For fault codes and descriptions, see the Knowledgebase document 1090034,
Kinetix 5100 Servo Drive Parameter Data and Fault Codes.
Initializing the absolute coordinates with parameters
Set ID244 (P2.071) to 1 to initialize the coordinates through the display panel or
with communication. As soon as ID244 (P2.071) is set to 1, the absolute
coordinate system resets. Because the write-protect function of ID244 (P2.071)
is protected by ID193 (P2.008), you must set ID193 (P2.008) to 271 first. In
other words, the sequence is: set ID193 (P2.008) to 271, then set ID244
(P2.071) to 1.
Table 119 - Relevant DI/DO Signals
Value DI name Value DO name
0x1D DI.ABSE signal
When the DI.ABSE signal is
on, the DO.ABSR signal is
output by DO2, which is no
longer configured by
ID204 (P2.019).
The DO.ABSR signal always
output by DO2
When the DI.ABSE signal is
on, the DI.ABSQ signal is
input by DI4, which is no
longer configured by
ID198 (P2.013).
The DI.ABSQ signal always
input by DI4
When the DI.ABSE signal is
on, the DO.ABSD signal is
output by DO3, which is no
longer configured by
ID197 (P2.012).
The DO.ABSD signal always
output by DO3
0x1F DI.ABSC signal 0x0D DO.ABSW signal
Table 120 - Relevant Faults
Fault Code Fault Name
A 060 Absolute position is lost
A 061 Encoder under-voltage (battery under-voltage)
E 069 Wrong motor encoder type
E 072 Encoder over-speed
E 073 Encoder memory error
E 074 Absolute encoder single-turn position error
E 075 Absolute encoder position error
E 077 Encoder computing error
E 07B Encoder memory is busy
A 07C
Clearing absolute position is issued when motor
speed is over 200 rpm
E 07D A 07C fault not cleared
E 07E Encoder clearing procedure error
A 289 Feedback position [PUU] counter overflows
To Next Page
Loading...
