Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual - Manual (Page 185)

Rockwell Automation Publication 2094-UM002E-EN-P - May 2012 185
Configure and Start the Kinetix 6500 Drive System Chapter 7
12. Click the Actions category.
The Actions to Take Upon Conditions dialog box opens.
From this dialog box, you can program actions and change the action for
exceptions (faults). Refer to
Logix Controller and Drive Behavior on
page 214 for more information.
13. Click Parameters.
The Motion Axis Parameters dialog box opens.