Kinetix 5100 fault codes: E 001, E 003, E 500, E 602 explained

How to read Kinetix 5100 E (fault) and A (warning) codes on the display, MOD/NET indicators, KNX5100C and Logix Designer; common codes (E 001, E 003, E 005, E 006, E 083, E 602…), STO faults E 500–E 503, resetting and when it is hardware.

A Kinetix 5100 servo drive (2198-E…-ERS) shows a problem on its five-digit display as E plus a code for a fault, for example E 003, or A plus a code for a warning, for example A 014 (2198-UM004D-EN-P, pp. 117–118, 450). A fault turns the servo off; a warning clears by itself once its cause is corrected (p. 454). For the full code list the user manual points to the spreadsheet 2198-RD001, Kinetix 5100 Servo Drive Fault Codes Reference Data (pp. 13, 450). Some codes contain letters, such as E 02C or E 60B.

Where the fault shows

On the drive

Where	What you see
Five-digit display	`E nnn` = fault, `A nnn` = warning (p. 450)
Drive Status screen	The state `Fault` when a fault or warning occurred during operation (p. 121)
MOD indicator	Flashing red: major or minor recoverable fault; steady red: major unrecoverable fault (pp. 449–450)
NET indicator	Flashing red: an Exclusive Owner connection timed out; steady red: duplicate IP address (p. 450)

The fault record holds five entries: ID274 (P4.000) FaultRecordN is the most recent, ID275…ID278 (P4.001…P4.004) are older and read-only. Setting ID274 to 0 erases all records, so write them down first (p. 127).

In KNX5100C software

KNX5100C connects to the drive by a mini-USB cable (p. 17). In the Function List, "Fault Information" shows the current fault with possible causes and corrective actions; "Show Faults" refreshes it, "Fault Reset" resets it, and the "Fault History" tab lists the latest codes recorded in the drive (pp. 452–453).

In Logix Designer

Logix Designer supports the drive only with ControlMode ID117 (P1.001) set to IO Mode (0x0C) (p. 189). The Kinetix 5100 is a simple I/O device on EtherNet/IP, not an integrated-motion (CIP) drive (p. 197). Major faults and warnings appear in the Status field of the "Module Info" tab (p. 453). With the Add-On Instruction library, the status type raC_UDT_Itf_K5100_Sts carries the bits Faulted and Warning and the active codes FaultCode and WarningCode (p. 501). Error code 101 from one of these instructions means "Drive is faulted": it is an instruction error, not a drive code (p. 524).

Common fault and warning codes

Names, types, causes and checks below are from 2198-RD001A-EN-P, sheet "Kinetix 5100"; page numbers refer to the user manual. Type: Recoverable = major recoverable fault, Unrecoverable = major unrecoverable fault, Warning = minor recoverable fault (warning).

Code	Name in 2198-RD001	Type	Causes listed	What to check
E 001	Over current	Recoverable	Current above 1.5 times the drive's rated peak output: output short, motor wiring, IGBT error, control parameters, unreasonable command	Drive-to-motor wiring and shorts; heat sink temperature; parameters above default (return to default, then adjust); longer acceleration or a command filter
E 002	Over voltage	Recoverable	Main circuit voltage above the rated allowable voltage; the drive may be damaged	Main input voltage; if it persists, contact your distributor or Rockwell
E 003	Under voltage	Recoverable	Main input voltage too low, or no voltage to the power circuit	Main input voltage and input wiring
E 005	Regeneration error	Recoverable	Shunt resistor missing or its value too low; ID158 (P1.053) ShuntResistorPower not 0 with no shunt resistor; regenerative switch transistor may be shorted	Shunt resistor connection; ID157 (P1.052) ShuntResistorValue and ID158; set ID158 to 0 when no shunt resistor is used
E 006 / E 02C	Motor overload / Drive overload	Recoverable	Motor or drive rating exceeded, control parameters, accel/decel settings, motor–encoder wiring	Load against motor and drive size, mechanical vibration, tuning, accel/decel, wiring. Example: 200 % average load for more than 8 seconds gives E 006 (p. 439)
E 011	Encoder error	Unrecoverable	Encoder wiring, loose connector, damaged encoder	Encoder wiring and connectors at drive and motor; replace the motor if the encoder is damaged
A 014 / A 015	Reverse limit warning / Forward limit warning	Warning	Limit switch activated, or the servo system is unstable	Move the axis away from the switch; control parameters and inertia ratio
E 016	IGBT overheat	Recoverable	Load above the drive rating, or drive output short-circuited	Overload or high motor current; output wiring
E 022	Input voltage phase loss	Recoverable	Abnormal input voltage	Main power input wiring; if it persists, contact your distributor or Rockwell
E 030	Exceed torque limit	Recoverable	ID162 (P1.057) CrashProtectionTorqueThreshold and ID163 (P1.058) CrashProtectionFilterTime set wrongly	Set ID162 to 0 if the function is not used, otherwise raise both values
A 060 / A 061 / A 06A	Absolution position lost / Encoder under voltage / Absolute position is not initialized	Warning	Absolute position not initialized, battery undervoltage, first use or battery change	Battery; home or initialize the absolute position
E 083	Excessive over current	Recoverable	Output above 95 % of hardware overcurrent: output short, motor wiring, unreasonable acceleration time in the command	Drive-to-motor wiring and shorts; a smoother command
E 085	Shunt resistor error	Recoverable	Shunt resistor not operating while the DC bus stays at 400 V for over 110 ms	Shunt resistor connection; recalculate and reset ID157 (P1.052) and ID158 (P1.053)
E 601	Duplicate IP address	Unrecoverable	IP address already in use	Set an unused IP address
E 602	Control connection loss fault	Unrecoverable	Faulty or disconnected Ethernet cable, controller lost power	Ethernet cable and connection, controller operation
E 60B / E 611	Motor selection match error / Feedback serial comms	Unrecoverable	Wrong motor selection or encoder wiring; for E 611 also motor vibration	Motor selection, encoder wiring, feedback shield (E 611); if it persists, replace the motor (E 611: motor or encoder)

For A 014 and A 015, the digital input table in the user manual pairs the reverse and forward limit switches with these two codes the other way round (p. 436), so check which switch is actually open; the same table says the limit alarm clears once the input turns back on. Autotuning faults E 08A, E 08B and E 08C are in Table 78 (p. 211).

Checks, step by step

Record before resetting: the code, the fault records or the "Fault History" tab, and the MOD and NET states.
Supply (E 002, E 003, E 022): main input voltage and input wiring.
Overcurrent (E 001, E 083): drive-to-motor wiring and shorts, then the acceleration time.
Regeneration (E 005, E 085): shunt resistor wiring, ID157 (P1.052) and ID158 (P1.053).
Feedback and network (E 011, E 611, E 601, E 602): encoder cable and connectors; IP address, Ethernet cable and controller. NET steady red means a duplicate IP address (p. 450).

Safe Torque Off faults

The STO connector carries STO_A (S1, S1C), STO_B (S2, S2C), the bypass pins SB+ and SB– and the safety status output SS+ and SS– (p. 415). The drive does not run without either a safety circuit or the bypass jumpers, which are installed by default (p. 417).

Code	Name in 2198-RD001	Type	When it is posted	What to check (2198-RD001)
E 500	STO enabled	Recoverable	Both STO inputs off for more than 10 ms (p. 412)	Whether STO was requested; bypass wiring if STO is not used; STO wiring
E 501	STO_A signal loss	Unrecoverable	STO_A off for more than 1 second while STO_B is on (p. 412)	STO_A wiring
E 502	STO_B signal loss	Unrecoverable	STO_B off for more than 1 second while STO_A is on (p. 412)	STO_B wiring
E 503	STO self-diagnostic error	Unrecoverable	The STO self-diagnostic fails, for example STO circuit or wiring (p. 413)	Wiring per the manual; if it persists, contact your distributor or Rockwell

E 500 can be reset only with both inputs on, and then needs a Fault Reset from raC_xxx_K5100_MAFR or the DI.ARST input; E 501, E 502 and E 503 can be reset by cycling power (p. 414). Bit 0 (Servo Ready) of ID107 (P0.046) ServoOutputStatus shows the STO input status in KNX5100C (pp. 411–412). After troubleshooting or maintenance that can affect STO, run the STO function to confirm it works (p. 413).

Clearing faults safely

Warnings (A nnn) clear by themselves when the cause is corrected (p. 454).
Major recoverable faults: "Reset Module" in Logix Designer, the DI.ARST input, "Fault Reset" in KNX5100C, writing 0 to ID101 (P0.001) FltWarnCode, or the raC_xxx_K5100_MAFR instruction (p. 454). The reset input and the MAFR instruction do not clear a fault that is still active (pp. 434, 506).
Major unrecoverable faults: cycle power; if the fault persists, contact your distributor or Rockwell (p. 454).
How the motor stops on a fault is set by ID675 (P1.032) MotorStopMode (p. 454).

Do not defeat the drive fault circuits; find the cause first. Before working on the drive, measure the DC bus voltage or wait the time on the warning label; the CHARGE indicator is on while the bus is above 50 V DC (p. 449). Clearing a fault can restart motion: follow the plant's permit and lockout rules.

When it is hardware

E 017 Abnormal EEPROM: contact your distributor or Rockwell (2198-RD001).
E 034 Encoder communication error: change the motor (2198-RD001).
E 600 Boot failure and E 604 Watchdog fault: cycle power (control power for E 604), update the drive firmware, then contact your distributor or Rockwell if it persists (2198-RD001). Firmware upgrade is in Appendix B (p. 477).
E 555 Malfunction of the system and E 60C Internal fault: contact your distributor or Rockwell if they persist (2198-RD001).

Planning notes

Wire the digital outputs Servo Alarm (0x07) and Warning (0x11) to the PLC. Servo Alarm does not turn on for limit switches, communication error, undervoltage or fan error; the Warning output covers those (pp. 438–439). Early Warning for Overload (0x10), set with ID161 (P1.056), comes on before E 006 (p. 439).
KNX5100C cannot change the configuration while the controller holds an I/O connection: check "Inhibit Module" first (p. 197).
Before calling for support, note the hardware and firmware versions from the Version Information screen, shown as h 01.002 F 01.102 in the manual's example (p. 121), the motor catalog number and what the machine was doing.

The Kinetix 5300 uses a different code system (F…, nF…, SF…): see Kinetix 5300 fault codes. For an engineer on site: breakdown support.

Frequently asked questions

What is the difference between E and A codes on a Kinetix 5100?

E plus a code is a fault and turns the servo off; A plus a code is a warning, which clears by itself once the cause is corrected (2198-UM004D-EN-P, pp. 450, 454). The meaning of each code is in the spreadsheet 2198-RD001.

What does E 500 STO enabled mean on a Kinetix 5100?

Both STO inputs were off for more than 10 ms. Check whether STO was requested, the STO wiring, and the bypass wiring if STO is not used. E 500 can be reset only with both inputs on, followed by raC_xxx_K5100_MAFR or the DI.ARST input (pp. 412, 414).

What is E 602 on a Kinetix 5100?

E 602 Control connection loss fault: communication with the controller was lost through a faulty or disconnected Ethernet cable or a controller that lost power. 2198-RD001 classes it as a major unrecoverable fault, and the manual clears those by cycling power (p. 454).

How do I reset a Kinetix 5100 fault?

A recoverable fault is reset with "Reset Module" in Logix Designer, the DI.ARST input, "Fault Reset" in KNX5100C, ID101 (P0.001) = 0 or raC_xxx_K5100_MAFR; an unrecoverable fault needs a power cycle (p. 454). Clearing a fault can restart motion, so follow the plant's permit and lockout rules.

Sources

Rockwell Automation, 2198-UM004D-EN-P, Kinetix 5100 EtherNet/IP Indexing Servo Drives User Manual, 12/2022 — pp. 13, 17, 117–118, 121, 127, 189, 197, 211, 411–417, 434, 436–439, 477, 501, 506, 524, chapter 16 "Troubleshoot the Kinetix 5100 Drive System" (pp. 449–456)
Rockwell Automation, 2198-RD001A-EN-P, Kinetix 5100 Servo Drive Fault Codes Reference Data (spreadsheet), 06/2021 — sheet "Kinetix 5100"

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.