Rockwell Automation MDF-SB1304F Kinetix 6000M Integrated Drive-Motor System - Manual (Page 92)

92 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Chapter 7 Troubleshooting the Kinetix 6000M System
General System Anomalies These anomalies do not always result in a fault code, but may require
troubleshooting to improve performance.
Condition Potential Cause Possible Solution
Axis or system is
unstable. Unintentionally in Torque mode. Check to see what primary operation mode
was programmed.
IDM unit 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.
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
acceleration/
deceleration that you
want. Torque Limit limits are set too low. Verify that current limits are set properly.
The system inertia is excessive. • Check IDM unit size versus application
need.
• Review servo system sizing.
The system friction torque is excessive. Check IDM unit size versus application need.
Available current is insufficient to supply
the correct accel/decel rate. • Check IDM 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.
IDM unit 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.
The IDM wiring is open. Replace the IDM unit.
The IDM thermal switch has tripped. • Check for a fault.
• Check the wiring.
The IDM unit has malfunctioned. Replace the IDM unit.
The coupling between IDM unit and
machine has broken (for example, the IDM
unit 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
wires/cables. 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.
Sercos ring not phasing
up. Duplicate node settings. Change the node address.
Incompatible data rates. Verify that the data rate is set to 8 Mbps for all
Kinetix 6000 modules.