Catalog Numbers:

2094-AC05-MP5-S, 2094-AC05-M01-S, 2094-AC09-M02-S, 2094-AC16-M03-S, 2094-AC32-M05-S,

2094-AMP5-S, 2094-AM01-S, 2094-AM02-S, 2094-AM03-S, 2094-AM05-S

2094-BC01-MP5-S, 2094-BC01-M01-S, 2094-BC02-M02-S, 2094-BC04-M03-S, 2094-BC07-M05-S,

2094-BMP5-S, 2094-BM01-S, 2094-BM02-S, 2094-BM03-S, 2094-BM05-S

• In a system where the rated current of the drive is less than the rated current of the motor, certain torque attributes (torque limits and motor torque feedback) are incorrect. RSLogix 5000 software assumes that 100% current is always motor rated current, but in the case of a drive limiting the rated current, the values are incorrect.

Lgx00042711/Lgx00061099

• The Test Command and Feedback Hook-up Test fails with a missing feedback error when used on dual loop configurations.

Lgx00035449

• If dual-position servo loop configuration is selected and auxiliary feedback is set to none, an Encoder Feedback Loss fault (E07) is displayed rather than an Auxiliary Feedback fault (E62) following the drive enable command.

Lgx00056423

• When the axis is operating in one of the position servo-loop configurations (without velocity feed-forward gain), the position error value is being incorrectly reported as negative, when the drive polarity is set negative and positive motion is commanded.

Lgx00067579

• When using an induction motor, a program needs to wait approximately 200 ms after a Motion Servo On (MSO) command before commanding an aggressive move profile. Not doing so could result in an Excess Following Error (E19). Also, if Autotune does not produce accurate results, manual tuning is required. This is due to the time it takes to flux the field on the motor producing full torque.

Lgx00058430

• Home to Torque Level in Forward Bi-directional or Reverse Bi-directional mode should reverse direction and move until Homing Torque Above Threshold status is low. Then the process complete (PC) bit should set. However, when the torque level is reached, the PC bit is set and the motor remains at that torque level. If the Peak Torque/Force Limit value is not reduced, the motor remains at the dynamic torque limit value.

Lgx00072872

Catalog Numbers:

2094-AC05-MP5-S, 2094-AC05-M01-S, 2094-AC09-M02-S, 2094-AC16-M03-S, 2094-AC32-M05-S,

2094-AMP5-S, 2094-AM01-S, 2094-AM02-S, 2094-AM03-S, 2094-AM05-S

2094-BC01-MP5-S, 2094-BC01-M01-S, 2094-BC02-M02-S, 2094-BC04-M03-S, 2094-BC07-M05-S,

2094-BMP5-S, 2094-BM01-S, 2094-BM02-S, 2094-BM03-S, 2094-BM05-S

• Support for EnDat auxiliary feedback when using the 2090-K6CK-KENDAT feedback module is not supported.

• When removing an axis association on the Associated Axes tab of the Module Properties dialog box, control power to the drive must be cycled to clear the previous associations. Failing to do so results in the Kinetix 6000 drive reporting a sercos Ring fault (E38).

• When changing from a dual loop configuration (dual position servo, dual command servo, aux dual command servo, and dual command/feedback servo) to a single loop configuration (position servo, aux position servo, velocity servo, and torque servo), control power to the drive must be cycled to clear out the previous loop-configuration setting. Failing to do so results in the Kinetix 6000 drive reporting an Auxiliary Feedback fault (E62) when the auxiliary feedback device is removed.

• When using a dual loop configuration, the resolution units setting (Rev, Inch, and Millimeter) on the Motor Feedback and Aux Feedback tabs of the Axis Properties dialog box must be the same.

• After issuing a Set System Variable (SSV) on a drive parameter, wait at least 3 ms after the ConfigUpdateInProcess bit is set before acting on the result of the setting.

• The auxiliary encoder channel does not generate a marker from any sine/cosine device, including SRS/SRM feedback.

• Setting the low-pass output filter bandwidth to a value greater than 3183 Hz causes a configuration error when downloaded.

• An E19 or E05 fault can occur if an MSO instruction is executed and the motor shaft is still rotating.

• When using a Kinetix 6000 drive system in Common Bus Follower mode, the IAM module must be included in the RSLogix 5000 motion group and must remain uninhibited.

• Make sure motor and auxiliary position does not change during sercos ring phase-up;  otherwise absolute position can recover an incorrect axis position.

Catalog Numbers:

2094-AC05-MP5-S, 2094-AC05-M01-S, 2094-AC09-M02-S, 2094-AC16-M03-S, 2094-AC32-M05-S,

2094-AMP5-S, 2094-AM01-S, 2094-AM02-S, 2094-AM03-S, 2094-AM05-S

2094-BC01-MP5-S, 2094-BC01-M01-S, 2094-BC02-M02-S, 2094-BC04-M03-S, 2094-BC07-M05-S,

2094-BMP5-S, 2094-BM01-S, 2094-BM02-S, 2094-BM03-S, 2094-BM05-S

IMPORTANT:  When series A and B drive modules exist on the same power rail or sercos ring as series C drive modules, it is necessary to use the same firmware revision (1.125 or later) across all drive modules. Mixing firmware revisions has been known to cause nuisance faults, for example, E75 during ring phase-up. Although these faults can be cleared after the ring reaches phase 4, the faults are logged in the module fault queue.