A Kinetix 2000 servo drive (Bulletin 2093) reports a fault on the seven-segment "Fault Status" display of each IAM (integrated axis module) and AM (axis module): it shows an E, then flashes the two-digit error code one digit at a time, and repeats until the error is cleared (PowerPhaseLossFault, and a HIM shows a short text such as "Phase Loss Flt". The full list is in chapter 7 (pp. 134–139); the drive's reaction to each fault is on pp. 145–147. Rockwell lists the 2093 IAMs and AMs as discontinued; for example the end-of-life page for
The seven-segment display at startup
At power-up the display flashes the SERCOS node address, then steps through the phases up to phase 4 (p. 124). Where it stops tells you where the SERCOS ring is stuck:
| Display | What the drive is doing | What to check |
|---|---|---|
| Segments cycling (phase 0) | Looking for a closed SERCOS ring | Fiber-optic connections |
| Fixed 1 | Looking for active nodes | Node addressing |
| Fixed 2 | Configuring nodes for communication | Motor and drive in the program against the installed hardware |
| Fixed 3 | Configuring device-specific parameters | Motor catalog number against the configured selection |
| Fixed 4 | Configured and active | Normal |
| Flashing E and two digits | Drive faulted | Error code table below |
A "Pseudo Key Failure" in the module diagnostics in RSLogix 5000 often means the configured motor does not match the installed one (p. 124). The control power indicator is a dot at the lower right of the seven-segment display (p. 142). With the power (PWR) indicator off, check that AC control power is applied; an internal power supply failure means returning the module for repair (p. 134).
Drive, Comm and Bus LEDs on the IAM/AM
| LED | State | Meaning |
|---|---|---|
| Drive | Off / steady red | No fault / drive faulted, read the seven-segment code |
| Comm | Steady green | Communication ready |
| Comm | Flashing green | Still establishing SERCOS, or the node address does not match the controller configuration |
| Comm | Off | No communication: loose or broken fiber, or receive and transmit swapped |
| Bus | Steady green | Bus power present, axis enabled |
| Bus | Flashing green | Bus power present, axis disabled: no 24 V on the Hardware Enable Input (IOD/ |
| Bus | Off | No bus power, a fault, or a follower IAM not set as "CommonBus Follow" in RSLogix 5000 |
Source: pp. 139–140.
Common error codes
Name column: the RSLogix 5000 fault name, with the HIM text in brackets.
| Code | Name in the manual | Usual causes | What to check |
|---|---|---|---|
| E04 | MotorOvertempFault (Motor Overtemp) | Motor thermal switch tripped: high ambient or excessive current, wiring, wrong motor | Torque rating at ambient (40 °C max), cooling, MF wiring, motor selection (p. 134) |
| E05 | DriveOvercurrentFault (Power Fault) | IPM self-protection: shorted motor cable or winding, drive too hot, above rating, failed component | Cable continuity, turn the motor by hand, vents and fan, reduce acceleration (p. 135) |
| E06 | HardOvertravelFault (+/- Hard Overtravel) | Overtravel input inactive, axis beyond its physical limits | Wiring, motion profile, axis configuration (p. 135) |
| E07 | MotFeedbackFault (Motor Feedback Loss) | Feedback wiring open, shorted or missing | Encoder wiring, Hookup test in RSLogix 5000 (p. 135) |
| E09 | BusUndervoltageFault (Bus Undervoltage) | DC bus below 137 V with three-phase power present, or bus dropped while a follower-rail axis was enabled | AC level, glitches or line drops; disable the follower axis before removing power (p. 135) |
| E10 | DriveOvervoltageFault (Bus Overvoltage) | Excessive regeneration, motor driven by the machine, dc bus above 410 V (troubleshooting tables, pp. 135, 145; the specification table on p. 154 gives 425 V dc) | Deceleration profile, shunt module, larger system, input voltage (p. 135) |
| E18 | OverSpeedFault (Overspeed Fault) | Above 150 % of maximum rated speed (100 % = lesser of user velocity limit and motor base speed) | Cable noise, tuning (p. 136) |
| E19 | PositionErrorFault (Follow Error) | Position error limit exceeded | Feedforward gain, following error limit, loop tuning, sizing, mechanics (p. 136) |
| E20 | MotFeedbackFault (Mtr Fdbk AQB) | Illegal motor encoder transition | Shielded twisted-pair cable, routing, grounds; then replace the motor or encoder (p. 136) |
| E30 | MotFeedbackFault (Motor Feedback Comm) | No communication with an intelligent encoder | Motor selection, automatic identification support, encoder wiring (p. 136) |
| E34 | GroundShortFault (Ground Fault) | Excessive ground current: wiring error, motor ground short, internal fault, grounded control power terminal | Motor and input power wiring; test with the motor cable removed (p. 136) |
| E35 | DriveUndervoltageFault (Pre-charge Fault) | Converter pre-charge failed: low AC input or internal fault | AC voltage on all phases (p. 136) |
| E37 | PowerPhaseLossFault (Phase Loss Flt) | Phase missing; axis still enabled when three-phase power, or a follower's dc bus, was removed | AC on all phases; disable the axis before removing power (p. 137) |
| E38 | SERCOSFault (SERCOS Ring Flt) | Ring lost after being active: cable disconnected | Fiber-optic cable present and connected (p. 137) |
| E43 | DriveEnableInputFault (Drive Enable Flt) | Software enable with the input inactive, or input dropped while enabled | Input active whenever the drive is enabled (p. 137) |
| E50 | SERCOSFault (SERCOS Same ADDR) | Duplicate node address on the ring | Unique node address per drive (p. 137) |
| E72 | DriveOvertempFault (Drive Overtemp) | Inverter thermal switch: IAM/AM fan failed, hot cabinet, RMS current above rating, blocked airflow | Failed-fan module, cabinet temperature, motion profile, airflow (p. 138) |
| E73 | Communicate (Backplane Comm) | Power rail CAN communication failed; rail connection shorted or open | Module mounting, foreign objects on rail or module (p. 138) |
| E75 | DriveOvervoltageFault (Shunt Time Out) | IAM, AM or SM above shunt resistor continuous rating | Shunt sizing or duty cycle; external shunt if the internal one is not enough (p. 138) |
| E90 | DriveHardFault, HardwareFault on p. 147 (Pre-charge Timeout Flt) | Pre-charge resistor power above rating | Let it cool (p. 139); bus capacitance above leader IAM pre-charge rating: larger IAM or fewer AMs (p. 15) |
How the drive reacts
Each fault has a set drive action (pp. 145–147): Shutdown (drive disables, contactor enable relay opens, motor coasts), Disable Drive (motor coasts), Stop Motion (stops on the velocity loop, then disables) or Status Only (keeps running). Only E04, E06, E16, E19, E43, E63, E64 and E72 can be changed in RSLogix 5000 (pp. 145–147); the manual notes that setting the motor thermal fault to Status Only bypasses the current foldback at 110 % of motor rating (p. 145). The contactor enable relay (
Checks, step by step
- Record before any reset: the code on every IAM and AM, the Drive, Comm and Bus LEDs, and the
Axis_Servo_Drivefault tags in RSLogix 5000 (p. 142). - Power (E09, E35, E37): measure AC on all phases at the IAM.
- Common dc bus (E81, E90): no AC input on a follower IAM (p. 139); total bus capacitance within the leader IAM rating (p. 15).
- E05 (IPM fault only): with all power and motor connections removed, check continuity from the dc bus to U, V and W; continuity with no wire fibers between terminals means the drive goes for repair (p. 135). E34: disconnect the motor power cable and enable with the current limit at 0; if the fault clears, the cause is wiring or the motor. A grounded control power terminal (230 V systems) also causes E34: remove the ground, take control power from the three-phase input, or add an isolation transformer (p. 136).
- Feedback (E07, E11, E20, E30, E64): Hall and encoder wiring at the MF connector, the 5 V encoder supply, shields and grounding, then the Hookup test (pp. 135–137).
- Shunt and rail (E10, E75, E77, E79, E73): deceleration profile and shunt module; SM Temp Fault and Shunt Fault LEDs (p. 141); a module or slot filler in every rail slot and no bent pins (pp. 138, 142). E77 means an AM power rating does not match the IAM input rating (p. 147).
Clearing faults safely
Correct the cause first; do not defeat the drive fault circuits. Before working on the drive, measure the dc bus voltage or wait the time on the front warning label (p. 133). Clearing a fault can restart the machine: follow the plant's permit and lockout rules.
- SM faults stay latched until cleared with MASR, MAFR, MGSR or the HIM red stop button, and only once the dc bus has discharged (SM Bus LED flashing) (p. 140).
- Some conditions need two reset commands to clear drive and SM faults (p. 140).
- After a disable, wait 1.5 seconds before enabling the axis again (p. 143).
When it is hardware
- E00 (blown fuse on the inverter board): return the module for repair (p. 134).
- E54, E60, E80: replace the module (pp. 137–138). E67, E71, E76, E78: cycle power or reset, then replace the module if it persists (p. 138).
- E69 and E70 (corrupt non-volatile memory): load defaults, save, then cycle power or reset (p. 138).
- SM with all three LEDs flashing together: cycle power, then replace the SM if it persists. SM Bus LED off from an internal supply failure: replace the SM (p. 141).
Planning the replacement
Kinetix 2000 IAMs and AMs are discontinued, so a hardware fault is a good moment to plan the move to a current drive. The replacement Rockwell lists for each 2093 catalog number is on its end-of-life page, such as
Frequently asked questions
How do I read a Kinetix 2000 error code?
The seven-segment display on the IAM or AM shows an E, then flashes the two-digit code one digit at a time, and repeats until the error is cleared (
Why does a Kinetix 2000 stay on 1, 2 or 3?
The SERCOS ring has not reached phase 4. On 1, check node addressing; on 2, compare the motor and drive in the program with the installed hardware; on 3, check the motor catalog number against the configured selection (p. 124).
What is error E37 on a Kinetix 2000?
A phase loss: an AC input phase is missing, or the axis was still enabled when three-phase power or a follower's dc bus was removed. Measure AC on all phases and disable the axis before removing power (p. 137).
What does E90 mean on a Kinetix 2000?
The pre-charge resistor power exceeded its rating: let the resistor cool (p. 139). If total bus capacitance exceeds the leader IAM pre-charge rating, use a larger IAM or remove axis modules (p. 15).
Sources
- Rockwell Automation,
2093-UM001A-EN-P , Kinetix 2000 Multi-axis Servo Drive User Manual, 03/2007 — pp. 15, 124, chapter 7 "Troubleshooting the Kinetix 2000 Drive System" (pp. 133–147)
Read 13 November 2026. This article paraphrases the sources and does not quote them; read the original documents before designing or working on a system. Links open the latest edition in Rockwell's literature library; page numbers refer to the edition cited.