Rockwell Automation Specific Axis Exceptions

This table defines a list of
Rockwell Automation
specific exception conditions associated with the CIP Axis Exceptions-RA, CIP Axis Faults-RA, and CIP Axis Alarms-RA attributes and their extension attributes, Axis Exceptions 2 Mfg, Axis Faults 2 Mfg, and Axis Alarms 2 Mfg attributes. While the CIP Axis Exceptions - RA, CIP Axis Faults - RA, and CIP Axis Alarms - RA attributes and their extensions are all Required in the CIP Motion device implementation, support for each of the individual exception conditions therein is left Optional.
The
Rule
column in the following table indicates the Device Function Codes where the associated exception is applicable.
  • B = Converters
  • D = Frequency, Position, Velocity, and Torque Control modes
  • E = Feedback Only
The enumerations for exceptions is as follows:
  • 0 = Ignore (All)
  • 1 = Alarm (All)
  • 2 = Fault Status Only (B, D)
  • 3 = Stop Planner (D)
  • 4 = Disable (R)
  • 5 = Shutdown (R)
Rockwell Automation
Specific Exception Table
Bit
Rule
Exception Name
Description
0
-
--Reserved--
This bit cannot be used since the Alarm Codes and Fault Code are defined by the associated exception bit number and an Alarm Code or Fault Code of 0 means no alarm or fault condition is present.
1
D
Commutation Startup Failure (O)
The self-sensing commutation startup algorithm failed.
2
XD
Motor Voltage Mismatch
The motor voltage is incompatible with the applied drive voltage.
3
-
--Reserved--
4
E
Feedback Filter Noise
Excessive levels of noise have been detected by the digital feedback filter. The offending feedback channel is encoded in the associated Fault/Alarm Sub Code.
5
E
Feedback Battery Loss
The battery charge level is too low and encoder power has been removed possibly resulting in loss of absolute position.The offending feedback channel is encoded in the associated Fault/Alarm Sub Code.
6
E
Feedback Battery Low
This occurs when the battery charge level is too low but encoder power has not yet been removed. The battery low voltage threshold for this exception condition can be higher than the voltage threshold for the Feedback Battery Loss exception to provide an early warning indication. This is intended as a warning that if encoder power is lost absolute feedback position could be lost. The offending feedback channel is encoded in the associated Fault/Alarm Sub Code.
7
E
Feedback Incremental Count Error
The periodic check of the incremental encoder position against the absolute encoder position or Hall edges indicates they are out of tolerance.The offending feedback channel is encoded in the associated Fault/Alarm Sub Code.
8
-
--Reserved--
-
9
-
--Reserved--
-
10
ALL
Control Module Overtemperature FL
Kinetix
: The control module temperature has exceeded its limit. Rhino: The temperature sensor on the Main Control Board detected excessive heat.
11
ALL
Control Module Overtemperature UL
The control module temperature exceeds the user-defined limit specified in Control Module Overtemperature User Limit.
12
BD
Converter Pre-Charge Overload FL
Converter estimates that the pre-charge circuit has exceeded its factory limit due to excessive power cycling.
14
XBD
Excessive Current Feedback Offset
Current in one or more phases has been lost or remains below a preset level.
15
BD
Regenerative Power Supply Failure
The hardware Regenerative Power OK input was deactivated while the drive was enabled.
16
XD
PWM Frequency Reduced
Carrier Frequency foldback due to excessive Junction Temperature.
17
XD
Current Limit Reduced
Current Limit reduced due to excessive Junction Temperature or due to Overload Protection.
18
D
Torque Prove Failure (O)
Actual feedback indicates error in torque proving.
19
D
Decel Override (O)
The drive is not following a commanded deceleration because it is attempting to limit bus voltage.
20
XBD
Preventative Maintenance
Component has reached lifetime limit.
21
D
Motor Test Failure
Motor Test procedure has failed.
22
D
Hardware Configuration
Error related to the tracking of optional hardware installation.
23
ALL
Firmware Change
Errors or forced configuration changes relating to firmware update.
24
BD
Converter Pre-Charge Input Deactivated
Pre-Charge Input has been deactivated while the axis power structure is enabled and supplying current to the DC Bus or motor.
25
BD
DC Common Bus
Error has been detected related to Common Bus operation.
26
ALL
Runtime Error
Runtime assertions detected.
27
D
Backplane Communication Error
Error in communicating over the modular backplane.
28
D
Safety Module Communication Error
Error in communicating to the Safety module.
29
BD
AC Line Contactor
AC Line Contactor is missing or is incorrectly wired. This condition is checked upon entering the Pre-Charge state if AC Line Contactor Checking is Enabled and an AC Line Contactor OK digital input is provided.
30
G
AC Line Resonance FL
Converter has detected AC line resonance current that has exceeded the factory set limit given by AC Line Resonance Factory Limit.
31
G
AC Line Resonance UL
Converter has detected AC line resonance current that has exceeded the user set limit given by AC Line Resonance User Limit, or device defined limit if the user limit attribute is not supported.
32
XPT
Track Stop
One or more track sections or movers requests a track stop. The track-wide stop notification occurs when a major fault is initiated by a mover or section axis on the track. All axes are notified anytime one or more movers on the track are forced to stop which could potentially impede motion of other movers on the track. Only enabled axis instances would assert this exception.
33
PT
Lost Mover Association
A logical axis instance lost association with a physical mover on the track.
34
X
Unassociated Mover
A track section has detected a physical mover that has no associated logical mover axis instance on the track.
35-39
-
-- Reserved --
40
BD
Peripheral Hardware FL
Peripheral hardware has failed.
41
BD
Peripheral Hardware UL
Peripheral hardware event has occurred. There is no user limit attribute currently defined for this exception.
42
BD
Peripheral Over Temperature FL
Peripheral temperature has exceeded its factory set temperature limit given by the Peripheral Over Temperature Factory Limit.
43
BD
Peripheral Over Temperature UL (O)
Peripheral temperature has exceeded the user defined temperature limit given by Peripheral Over Temperature User Limit or a, or device defined limit if the user limit attribute is not supported.
44
BD
Peripheral Under Temperature FL
Peripheral temperature has fallen below its factory set temperature limit given by Peripheral Under Temperature Factory Limit.
45
BD
Peripheral Under Temperature UL
Peripheral temperature has fallen below the user defined temperature limit given by Peripheral Under Temperature User Limit, or device defined limit if the user limit attribute is not supported.
46
BD
Peripheral Communication FL
A peripheral communication error has occurred that has exceeded the factory high limit.
47
BD
Peripheral Communication UL (O)
A peripheral communication error has occurred that has exceeded the factory low limit. There is no user limit attribute currently defined for this exception.
48-49
-
-
-
50
BD
Adapter Communication FL
An adapter communication error has occurred that has exceeded the factory high limit.
51
BD
Adapter Communication UL
An adapter communication error has occurred that has exceeded the factory low limit. There is no user limit attribute currently defined for this exception.
52
-
-- Reserved --
-
53
C
Excessive Motor Voltage Feedback Offset
The motor voltage feedback offset exceeds the Motor Voltage Feedback Offset Limit
54
G
AC Line Phase Reversal
An active converter may detect the phase sequence of the AC Line connection and compare it to a vendor specific defined sequence. It asserts this exception when the sequence detected does not match the defined sequence.
55
BD
Phase Thermal Imbalance
A phase thermal imbalance has occurred between parallel power modules.
56
BD
DC Bus Voltage Imbalance
A DC bus voltage imbalance has occurred between parallel power modules exceeding the allowable difference for an extended time period. Connections through the DC Link fuse or DC Bus connection harness are possible causes.
57
XBD
Predictive Maintenance
A physical component has exceeded a device calculated or user-defined predictive maintenance threshold.
58-62
-
-
63
All
Product Specific (O)
Product Specific (exotic) exceptions by Sub Code.
64-127
-
-- Reserved --
Based on the Exception Action configuration, Exception conditions can become Faults or Alarms. The naming convention for Faults is to append a "Fault" suffix to the Exception name. Similarly, the convention for Alarms is to append an "Alarm" suffix to the Exception name.
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