Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual - Manual (Page 202)

202 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
Chapter 8 Troubleshooting the Kinetix 6200 and Kinetix 6500 Drive System
FLT S47…MTR ENC SELF TEST nn
Feedback Self Test
The feedback device has detected an
internal error. Sub code (nn) available
for user use.
Damage to feedback device.
Call your Rockwell Automation
sales representative to return
module for repair.
FLT S47…AUX ENC SELF TEST nn
FLT S50…POS HW OTRAVEL Hardware Overtravel - Positive
Axis moved beyond the physical travel
limits in the positive direction.
Dedicated overtravel input is
inactive.
• Check wiring.
• Verify motion profile.
• Verify axis configuration in
software. FLT S51…NEG HW OTRAVEL
Hardware Overtravel -
Negative Axis moved beyond the physical travel
limits in the negative direction.
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.
Table 81 - FLT Sxx Fault Codes (continued)
Four-character
Display Message RSLogix 5000
Fault Message
Problem or Symptom Potential Cause Possible Resolution