Standard Axis Exceptions
The following table lists the standard exception conditions associated with the CIP Axis Exceptions, CIP Axis Faults, and CIP Axis Alarms attributes and their extension attributes, Axis Exceptions 2, Axis Faults 2, and Axis Alarms 2. While the CIP Axis Exceptions, CIP Axis Faults, and CIP Axis Alarms attributes and their extensions are all required in the CIP Motion device implementation, support for each individual exception condition is 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)
Standard exceptions
Array Index | Rule | Exception | 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 | XD | Motor Overcurrent | Motor current has exceeded its rated peak or instantaneous current limit. |
2 | XD | Motor Commutation | Permanent magnet motor commutation problem detected, such as an illegal state '111' or '000' for UVW commutation signals, S1, S2, and S3. |
3 | D | Motor Overspeed FL | Motor speed has exceeded the Motor Overspeed Factory Limit attribute associated with the motor type. |
4 | D | Motor Overspeed UL | Motor speed has exceeded the user-defined speed limit given by Motor Overspeed User Limit. |
5 | XD | Motor Overtemperature FL | Motor temperature has exceeded the Motor Overtemperature Factory Limit, or the integrated motor thermal switch has tripped. |
6 | XD | Motor Overtemperature UL | Motor temperature has exceeded the user defined temperature limit given by Motor Overtemperature User Limit. |
7 | XD | Motor Thermal Overload FL | Motor thermal model or I 2 T overload value has exceeded its factory set thermal capacity limit given by Motor Thermal Overload Factory Limit. |
8 | XD | Motor Thermal Overload UL | Motor thermal model or I 2 T overload value has exceeded its user-defined thermal capacity given by Motor Thermal Overload User Limit. |
9 | XD | Motor Phase Loss | The current in one or more motor phases is lost, or is below a factory setting threshold or, if supported, the configured Motor Phase Loss Limit. This exception is also associated with the optional Torque Prove function that tests motor current against an engaged mechanical brake. During normal operation in the Running state, the motor phase loss test cycles through the three motor currents checking that current in each motor phase exceeds the threshold level. When the phase being checked exceeds the level, the check is advanced to the next phase. If any phase fails to exceed the level within a vendor specific time period, for example, one second, this exception is issued. The motor phase loss test only runs when the motor is running above a vendor specified speed. When Torque Proving is enabled, the motor phase current is checked during the Starting state. The current is applied to the motor at a fixed angle that is known to produce current in all three motor phases; hence this test takes very little time to execute. The Motor Phase Loss Limit is used to determine if the drive can produce torque. The measured current in all three phases need to exceed this level for a pass to occur. |
10 | XD | Inverter Overcurrent | Inverter current has exceeded the factory set peak or instantaneous current limit. |
11 | XD | Inverter Overtemperature FL | Inverter temperature has exceeded its factory set temperature limit given by the Inverter Overtemperature Factory Limit. |
12 | XD | Inverter Overtemperature UL | Inverter temperature has exceeded the user defined temperature limit given by Inverter Overtemperature User Limit. |
13 | XD | Inverter Thermal Overload FL | Inverter thermal model or I 2 T overload value has exceeded its factory set thermal capacity limit given by the Inverter Thermal Overload Factory Limit. |
14 | XD | Inverter Thermal Overload UL | Inverter thermal model or I 2 T overload value has exceeded its user-defined thermal capacity given by the Inverter Thermal Overload User Limit. |
15 | BD | Converter Overcurrent | Converter current has exceeded the factory set peak or instantaneous current limit. |
16 | BD | Converter Ground Current FL | Ground Current has exceeded its factory set current limit given by the Converter Ground Current Factory Limit. |
17 | BD | Converter Ground Current UL | Ground Current has exceeded user-defined limit given by the Converter Ground Current User Limit. |
18 | BD | Converter Overtemperature FL | Converter temperature has exceeded its factory set temperature limit given by the Converter Overtemperature Factory Limit. |
19 | BD | Converter Overtemperature UL | Converter temperature has exceeded the user-defined temperature limit given by the Converter Overtemperature User Limit. |
20 | BD | Converter Thermal Overload FL | Converter thermal model or I 2 T overload value has exceeded its factory set thermal capacity limit given by the Converter Thermal Overload Factory Limit. |
21 | BD | Converter Thermal Overload UL | Converter thermal model or I 2 T overload value has exceeded its user-defined thermal capacity given by the Converter Thermal Overload User Limit. |
22 | XBD | Converter AC Power Loss | Multiple AC phases have been lost on the AC line to the converter, usually as a result of opening an AC line contactor. For regenerative converters, this exception is generated at the expiry of the configured Power Loss Time while attempting to Ride Thru a Power Loss condition. When associated with an external converter in a Shared AC/DC or Shared DC bus configuration, the AC Power Loss condition detected by the converter can be conveyed using the CIP Motion connection's Control Status element. Generally, this exception is not asserted unless the device's power structure is enabled. |
23 | BD | Converter AC Single Phase Loss | One AC phase have been lost on the AC line to the converter. |
24 | BD | Converter AC Phase Short | A short has been detected between an AC phase and another AC phase or ground. |
25 | BD | Converter Pre-Charge Failure | A problem has been detected in the pre-charge circuitry of the converter preventing the DC Bus from charging to an acceptable voltage level. |
26 | --Reserved-- | - | |
27 | XBD | Bus Regulator Overtemperature FL | Bus Regulator temperature has exceeded its factory set temperature limit given by the Bus Regulator Overtemperature Factory Limit. |
28 | XBD | Bus Regulator Overtemperature UL | Bus Regulator temperature has exceeded the user-defined temperature limit given by the Bus Regulator Overtemperature User Limit. |
29 | XBD | Bus Regulator Thermal Overload FL | Bus Regulator thermal model or I 2 T overload value has exceeded its factory set thermal capacity limit given by the Bus Regulator Thermal Overload Factory Limit. |
30 | XBD | Bus Regulator Thermal Overload UL | Bus Regulator thermal model or I 2 T overload value has exceeded its user-defined thermal capacity given by the Bus Regulator Thermal Overload User Limit. |
31 | XBD | Bus Regulator Failure | The bus regulator (shunt) has a failed. |
32 | XBD | Bus Module Failure | The bus module failed. Fault/Alarm Sub Code identifies the specific type of bus module that failed. |
33 | XBD | Bus Undervoltage FL | DC Bus voltage level is below the factory set limit given by Bus Undervoltage Factory Limit. |
34 | XBD | Bus Undervoltage UL | DC Bus voltage level is below user defined limit given by Bus Undervoltage User Limit, or device defined limit if the user limit attribute is not supported. |
35 | XBD | Bus Overvoltage FL | DC Bus voltage level is above the factory set limit given by the Bus Overvoltage Factory Limit. |
36 | XBD | Bus Overvoltage UL | DC Bus voltage level is above user-defined limit given by Bus Overvoltage User Limit, or device defined limit if the user limit attribute is not supported. |
37 | XBD | Bus Power Loss | DC Bus voltage level is below the Bus Power Loss Threshold for more than the timeout period specified by the Bus Power Loss Time value. |
38 | XBD | Bus Power Fuse Blown | DC bus power loss due to blown fuse. |
39 | D | Bus Power Leakage | DC Bus power leak has been detected when configured for Standalone operation. This can occur when the drive, configured for Standalone operation, is incorrectly wired to share DC bus power. |
40 | XBD | Bus Power Sharing | An external converter sharing DC Bus power with this drive in a Shared AC/DC or Shared DC configuration has requested that this drive stop consuming power from the shared DC Bus. This may require that the drive be disabled to remove its DC Bus Power load from the failed converter. When there is no communication link between this drive and the external converter, the controller can monitor the DC Bus Unload bit of the converter axes and, if set, it can initiate Bus Power Sharing exceptions on all drives associated with the failed converter. See the DC Bus Unload status bit definition associated with the Axis Status attribute for a detailed description of this behavior. |
41 | E | Feedback Signal Noise FL | Noise induced A/B channel state changes (illegal states) from a feedback device were detected by the drive. Specifically, the number of these noise events that have occurred on this channel has exceeded the Feedback Noise Factory Limit. The offending feedback channel number is encoded in the associated fault/alarm sub code. |
42 | E | Feedback Signal Noise UL | Noise induced A/B channel state changes (illegal states) from a feedback device were detected on a feedback channel. Specifically, the number of these noise events that have occurred on this channel has exceeded the Feedback Noise User Limit. The offending feedback channel is encoded in the associated fault/alarm sub code. |
43 | E | Feedback Signal Loss FL | One or more A/B channel signals from a feedback device are open, shorted, missing, or severely attenuated. Specifically, the detected voltage levels of the signals are below the Feedback Loss Factory Limit. The offending feedback channel is encoded in the associated fault/alarm sub code. |
44 | E | Feedback Signal Loss UL | One or more A/B channel signals from a feedback device are open, shorted, missing, or severely attenuated. Specifically, the detected voltage levels of the signals are below the Feedback Loss User Limit. The offending feedback channel is encoded in the associated fault/alarm sub code. |
45 | E | Feedback Data Loss FL | The number of consecutive missed or corrupted serial data packets over the serial data channel from a feedback device has exceeded the Feedback Data Loss Factory Limit. The offending feedback channel is encoded in the associated fault/alarm sub code. |
46 | E | Feedback Data Loss UL | The number of consecutive missed or corrupted serial data packets over the serial data channel from a feedback device has exceeded the Feedback Data Loss User Limit. The offending feedback channel is encoded in the associated fault/alarm sub code. |
47 | E | Feedback Device Failure | The feedback device has detected an internal error. The offending feedback channel is encoded in the associated Fault/Alarm Sub Code. Additional feedback device specific internal error information, if available, can be accessed via the optional “Feedback Error Code” attribute. |
48 | XBD | Sensor Failure | A failure condition has been detected that is related to a sensor or associated sensor circuitry. This exception typically applies to temperature sensors. |
49 | D | Brake Slip | Motor displacement exceeds the brake slip tolerance while the mechanical brake is engaged. |
50 | D | Hardware Overtravel Positive | Axis moved beyond the physical travel limits in the positive direction and activated the Positive Overtravel limit switch. |
51 | D | Hardware Overtravel Negative | Axis moved beyond the physical travel limits in the negative direction and activated the Negative Overtravel limit switch. |
52 | E | Position Overtravel Positive | Axis actual position exceeded the configured Position Limit - Positive attribute value in the positive direction. (Drive Scaling only). |
53 | E | Position Overtravel Negative | Axis actual position exceeded the configured Position Limit - Negative attribute value in the negative direction. (Drive Scaling only). |
54 | P | Excessive Position Error | The Position Error value of the position control loop has exceeded the configured value for Position Error Tolerance. |
55 | PV | Excessive Velocity Error | The Velocity Error value of the velocity control loop has exceeded the configured value for Velocity Error Tolerance. |
56 | C | Overtorque Limit | Motor torque has risen above user-defined maximum torque level given by Overtorque Limit. |
57 | C | Undertorque Limit | Motor torque has dropped below user-defined minimum torque level given by Undertorque Limit. |
58 | B | Excessive Bus Voltage Error | The Bus Voltage Error value of the bus voltage control loop has exceeded the configured value for Bus Voltage Error Tolerance. |
59 | XBD | Ambient Temperature Rise | The temperature in the module has risen higher than expected, or failed to rise to the expected operating value for the load and ambient measured temperature. |
60 | All | Illegal Control Mode | Controller has specified an unsupported Control Mode or Feedback Mode |
61 | XBD | Enable Input Deactivated | Enable Input has been deactivated while the axis power structure is enabled and supplying current to the DC Bus or motor. |
62 | All | Controller Initiated Exception | Exception generated specifically by controller. |
63 | All | External Input Exception | Exception generated by external input to device. |
64 | G | AC Line Overvoltage FL | AC Line voltage has exceeded the factory set voltage limit given by AC Line Overvoltage Factory Limit. Sub Code 1,2,3 = Line 1,2,3 Overvoltage. |
65 | G | AC Line Overvoltage UL | AC Line voltage has exceeded the user defined voltage limit given by AC Line Overvoltage User Limit, or device defined limit if the user limit attribute is not supported. Sub Code 1,2,3 = Line 1,2,3 Overvoltage. |
66 | G | AC Line Undervoltage FL | AC Line voltage has dropped below the factory set voltage limit given by AC Line Undervoltage Factory Limit. Sub Code Instance 1,2,3 = Line 1,2,3 Undervoltage. |
67 | G | AC Line Undervoltage UL | AC Line voltage has dropped below the user defined voltage limit given by AC Line Overvoltage User Limit, or device defined limit if the user limit attribute is not supported. Sub Code 1,2,3 = Line 1,2,3 Undervoltage.. |
68 | G | AC Line High Frequency FL | AC Line frequency has exceeded the factory set high frequency limit given by AC Line High Freq Factory Limit. |
69 | G | AC Line High Frequency UL | AC Line frequency has exceeded the user defined high frequency limit given by AC Line High Freq User Limit, or device defined limit if the user limit attribute is not supported. |
70 | G | AC Line Low Frequency FL | AC Line frequency has dropped below the factory set low frequency limit given by AC Line Low Freq Factory Limit. |
71 | G | AC Line Low Frequency UL | AC Line frequency has dropped below user defined low frequency limit given by AC Line Low Freq User Limit, or device defined limit if the user limit attribute is not supported. |
72 | G | AC Line Voltage Unbalance | AC Line Voltage Unbalance has exceeded the configured AC Line Voltage Unbalance Limit. |
73 | G | AC Line Current Unbalance | AC Line Current Unbalance has exceeded the configured AC Line Current Unbalance Limit. |
74 | G | AC Line Voltage Sag | AC Line Voltage has dropped below the AC Line Voltage Sag Threshold for more than the timeout period specified AC Line Voltage Sag Time value. |
75 | G | AC Line Frequency Change | AC Line Frequency rate of change has exceeded the AC Line Frequency Change Threshold for more than the timeout period specified AC Line Frequency Change Time value. |
76 | G | AC Line Sync Loss | AC Line synchronization has been lost for more than the timeout period specified AC Line Sync Loss Time. |
77 | G | AC Line Sync Failure | AC Line synchronization function has detected errors and synchronization to the AC line has not been established for more than the factory set timeout period. This condition is detected and reported in Starting state only. |
78 | - | --Reserved-- | |
79 | - | --Reserved-- | |
80 | D | Inverter Ground Current FL | Ground Current has exceeded its factory set current limit given by Inverter Ground Current Factory Limit. |
81 | XD | Inverter Ground Current UL | Ground Current has exceeded user defined limit given by Inverter Ground Current User Limit, or device defined limit if the user limit attribute is not supported. |
82 | XD | Inverter Output Phase Short | A phase to ground fault has been detected between the drive and motor or excessive current has been detected between two output terminals. |
83 | - | --Reserved-- | |
84 | - | --Reserved-- | |
85 | BD | Auxiliary Power Supply FL | Auxiliary power supply failure. |
86 | BD | Auxiliary Power Supply FL | Auxiliary power supply event has occurred. There is no user limit attribute currently defined for this exception. |
87 | - | --Reserved-- | |
88 | - | --Reserved-- | |
89 | XD | Bus Input Overcurrent FL | DC bus input current has exceeded its factory set limit given by the Bus Input Overcurrent Factory Limit |
90 | XD | Bus Input Overcurrent UL | DC bus input current has exceeded its user set limit given by the Bus Input Overcurrent User Limit |
127 | - | --Reserved-- |
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