Allen-Bradley Kinetix 6200 - Page 204

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