Rockwell Automation 2198-Hxxx Kinetix 5500 Servo Drives User Manual - Manual (Page 149)

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 149
Troubleshooting the Kinetix 5500 Drive System Chapter 7
Logix5000 Controller and
Drive Behavior By using the Logix Designer application, you can configure how the Kinetix 5500
drives respond when a drive fault/exception occurs.
The drive supports fault actions for Ignore, Alarm, Minor Fault, and Major Fault
as defined in
Table 68 . The drive also supports three configurable stopping
actions as defined in Table 69 .
Refer to the drive behavior tables beginning on page 150 to see how the fault and
stopping actions apply to each of the exception fault codes.
Kinetix 5500 Drive Exception Behavior
For Kinetix 5500 drives, you can configure exception behavior in the Logix
Designer application from the Axis Properties dialog box, Actions category.
Table 68 - Kinetix 5500 Drive Exception Action Definitions
Table 69 - Configurable Stopping Actions
TIP The INIT FLT xxx faults are always generated after powerup, but before the
drive is enabled, so the stopping behavior does not apply.
NODE ALARM xxx faults do not apply because they do not trigger stopping
behavior.
Exception Action Definition
Ignore
The controller completely ignores the exception condition. For some exceptions that are
fundamental to the operation of the planner, Ignore is not an available option.
Alarm
The controller sets the associated bit in the Motion Alarm Status word, but does not
otherwise affect axis behavior. Like Ignore, if the exception is so fundamental to the drive,
Alarm is not an available option. When an exception action is set to Alarm, the Alarm goes
away by itself when the exceptional condition has cleared.
Fault Status Only
Like Alarm, Fault Status Only instructs the controller to set the associated bit in the Motion
Fault Status word, but does not otherwise affect axis behavior. However, unlike Alarm an
explicit Fault Reset is required to clear the fault once the exceptional condition has cleared.
Like Ignore and Alarm, if the exception is so fundamental to the drive, Fault Status Only is not
an available option.
Stop Planner
The controller sets the associated bit in the Motion Fault Status word and instructs the Motion
Planner to perform a controlled stop of all planned motion at the configured maximum
deceleration rate. An explicit Fault Reset is required to clear the fault once the exceptional
condition has cleared. If the exception is so fundamental to the drive, Stop Planner is not an
available option.
Stop Drive
When the exception occurs, the associated bit in the Fault Status word is set and the axis
comes to a stop by using the stopping action defined by the drive for the particular exception
that occurred. There is no controller based configuration to specify what the stopping action
is, the stopping action is device dependant.
Shutdown
When the exception occurs, the drive brings the motor to a stop by using the stopping action
defined by the drive (as in Stop Drive) and the power module is disabled. An explicit
Shutdown Reset is required to restore the drive to operation.
Stopping Action Description
Decel and hold Most control
The best available stopping action is the one that maintains the
most control over the motor. However, not all faults support
every stopping action.
Decel and disable Less control
Disable and coast Least control