Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual - Manual (Page 212)

212 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
Chapter 8 Troubleshooting the Kinetix 6200 and Kinetix 6500 Drive System
General System Anomalies These anomalies do not always result in a fault code, but may require
troubleshooting to improve performance.
Table 98 - General System Anomalies
Condition Potential Cause Possible Resolution
Axis or system is unstable.
The position feedback device is incorrect or open. Check wiring.
Unintentionally in Torque mode.
Check to see what primary operation mode was
programmed.
Motor tuning limits are set too high. Run Tune in RSLogix 5000 software.
Position loop gain or position controller accel/decel rate is improperly set. Run Tune in RSLogix 5000 software.
Improper grounding or shielding techniques are causing noise to be transmitted
into the position feedback or velocity command lines, causing erratic axis
movement.
Check wiring and ground.
Motor Select limit is incorrectly set (servo motor is not matched to axis module).
• Check setups.
• Run Tune in RSLogix 5000 software.
Mechanical resonance.
Notch filter or output filter may be required (refer to Axis
Properties dialog box, Output tab in RSLogix 5000
software).
You cannot obtain the motor
acceleration/deceleration that you
want.
Torque Limit limits are set too low. Verify that current limits are set properly.
Incorrect motor selected in configuration.
Select the correct motor and run Tune in RSLogix 5000
software again.
The system inertia is excessive.
• Check motor size versus application need.
• Review servo system sizing.
The system friction torque is excessive. Check motor size versus application need.
Available current is insufficient to supply the correct accel/decel rate.
• Check motor size versus application need.
• Review servo system sizing.
Acceleration limit is incorrect. Verify limit settings and correct them, as necessary.
Velocity Limit limits are incorrect. Verify limit settings and correct them, as necessary.
Motor does not respond to a velocity
command.
The axis cannot be enabled for 1.5 seconds after disabling.
Disable the axis, wait for 1.5 seconds, and enable the
axis.
Enable signal has not been applied or the enable wiring is incorrect.
• Check the controller.
• Check the wiring.
The motor wiring is open. Check the wiring.
The motor thermal switch has tripped.
• Check for a fault.
• Check the wiring.
The motor has malfunctioned. Repair or replace the motor.
The coupling between motor and machine has broken (for example, the motor
moves, but the load/machine does not).
Check and correct the mechanics.
Primary operation mode is set incorrectly. Check and properly set the limit.
Velocity or current limits are set incorrectly. Check and properly set the limits.
Presence of noise on command or
motor feedback signal wires.
Recommended grounding per installation instructions have not been followed.
• Verify grounding.
• Route wire away from noise sources.
• Refer to System Design for Control of Electrical Noise,
publication GMC-RM001 .
Line frequency may be present.
• Verify grounding.
• Route wire away from noise sources.
Variable frequency may be velocity feedback ripple or a disturbance caused by
gear teeth or ballscrew balls, and so forth. The frequency may be a multiple of
the motor power transmission components or ballscrew speeds resulting in
velocity disturbance.
• Decouple the motor for verification.
• Check and improve mechanical performance, for
example, the gearbox or ballscrew mechanism.