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 TableBit | 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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