The Drive Enable input transitioned from active to inactive while the axis was enabled.
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Verify that Drive Enable hardware input is active whenever the drive is enabled through software. The controller has requested the drive to generate an exception. User configured software overtravel. RSLogix Fault Message. The self-sensing commutation start-up algorithm failed. Extremely light or heavy load on the motor. Clear faults and re-try.
Rockwell Automation
Motor voltage incompatible with drive voltage. Check RSLogix software configuration. Correct RSLogix software configuration. Wrong motor connected to drive.
I realized that I hadn't turned the servo drive on with the MSO instruction prior to attempting the move. It would engage, then go done, and withing 2 seconds engage itself again. I'm not sure where I'm going wrong and have not found an answer. I have looked at some sample code from the Knowledgebase, but it is all for earlier versions. I'm hoping I might be able to get a little insight into my problem from the experts in this forum.
Kinetix 6500 Modular Multi-axis Servo Drives, Firmware Revisions
I have also attached a copy of my program for you to critique. Again, I am new to fairly new to RSLogix so don't be too harsh. Share this post Link to post Share on other sites. You need to use the JSR instruction to execute the other routines, just like in Logix Leave the input and return parameters blank, they are optional. When I insert the JSR instruction, it doesn't usually display those fields anyway. Perhaps it's the way I enter it.
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As far as the servo control itself, I'm not sure I follow your description. Or is it just the MSO command that is cycling? I've attached a routine that I built for manual servo control that includes and initialization sequence for reseting and turning the servo on, as well as jogging, etc. Try adapting that to your use to see if that helps. You can import it into your project as follows: Extract the file, will have an L5X extension. Right-click on the "MainProgram" folder and choose "Import Routine".
Find the L5X file and select it, then follow the prompts. You'll have to adapt some of the logic for your purposes, but I've used this on the L33ERM with Kinetix , so it should get you started.
You can also do testing without logic by using the Motion Direct Commands right-click the axis to find the option. This lets you send motion commands directly to the axis without writing logic. This can be helpful for figuring out what commands to use, troubleshooting, etc. Thanks for the reply Jross.
I insert the JSR identical to how I do it in I've tried leaving the input and return parameters blank, but when I go to verify the program, it gives me errors for leaving those parameters blank. The servo is following the logic in engaging and disengaging. As soon as I put the controller into remote run mode, this takes place. The drive incorrectly sees digital inputs as active due to noise with long input wires or poorly shielded wires. Additional digital filtering of the input signals has been added to correct this issue.
Under certain network conditions, the drive fails to achieve time synchronization with the Precision Time Protocol PTP master, causing the drive to fail to respond properly to motion commands or to report incorrect PTP statistics. The drive fails to complete configuring when using a linear EnDat 2. Using an interpolation other than with absolute encoders causes absolute position start-up errors or Incremental Feedback Loss faults. EnDat single-turn absolute encoders sometimes show a small absolute-position shift after a power cycle.
Drive experiences occasional control sync faults when other devices or personal computers are communicating with it at the same time as Logix. During an action that interrupts communication to the drive, such as downloading a project, the drive can generate a fault that is not logged to the controller's fault queue, but is shown on the drive's display.
When bus power is removed after performing an MSF and the drive is configured for a Decel and Disable stop with non-zero brake engage delay, the drive can produce a power loss fault. If a motion command in RSLogix software or the Logix Designer application uses an illegal floating-point value, resulting from an improper floating-point operation, the drive can fault with a position error or velocity error.
When the fault is cleared and the axis is enabled, the drive can experience uncontrolled motion. Support for Heidenhain EnDat encoder feedback has not been implemented. The stopping action of the drive does not prevent a position error fault if the drive was enabled or homed immediately after the drive was disabled while it was in motion. Self-sensing commutation does not prevent unexpected motion during a move on an axis requiring self-sensing commutation and having the feedback polarity inverted compared to the motor power polarity. Restrictions EN02D-MS0 and EN02D-MS1 When multi-turn encoder motors turn more than revolutions with either the controller or drive powered down, the absolute position is no longer valid even though the absolute position status bit remains asserted.
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