Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual - Manual (Page 214)

214 Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
Chapter 8 Troubleshooting the Kinetix 6200 and Kinetix 6500 Drive System
Logix Controller and Drive
Behavior By using RSLogix 5000 software, you can configure how the Bulletin 2094
control modules respond when a drive fault/exception occurs. The set of drive
actions that apply depends on the whether you are using a CIP Motion
(Kinetix 6500) servo drive or sercos (Kinetix 6200) servo drive.
Kinetix 6500 Drive Exception Behavior
For Kinetix 6500 (CIP Motion) drives, you can configure exception behavior in
RSLogix 5000 software from the Axis Properties dialog box, Actions category.
Table 99 - Kinetix 6500 Drive Exception Action Definitions
TIP The INIT FLT xxx faults are always generated after powerup, but before the
drive is enabled, so the stopping behavior does not apply.
ALARM xxx and 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 will not be 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 will
not be an available option. When an exception action is set to Alarm, the Alarm will go 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 will
not be 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 will not be
an available option.
Stop Drive
When the exception occurs, the associated bit in the Fault Status word is set and the axis will
come 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. Optionally, if the
Shutdown Action attribute is configured for Drop DC Bus, the contactor will open. An explicit
Shutdown Reset is required to restore the drive to operation.