840-4A1 Allen-Bradley.

840-4A1      Allen-Bradley.    AC Servo driver

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 ConfigUpdateComplete 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.

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