A-B 931S-U561

Added support for detecting when a motor has been changed, so that absolute positioning applications can programmatically detect when 

re-referencing of the axis is necessary. When the absolute reference is set by the user, the serial number of the motor is stored into non-volatile memory. 

Subsequently, upon power up, the serial number of the motor (encoder) is read and compared to the serial number previously stored in non-volatile 

memory. If the encoder serial numbers match (same motor), the absolute reference flag remains set. If a different serial number is detected, the 

absolute reference flag is cleared and the reference offsets are set to 0.

When updating a drive from an older firmware revision to revision 1.123, the absolute reference flag is cleared.

Description:

This publication contains release notes for Kinetix® 6000 drives, firmware 

revisions 1.113, 1.114, 1.116, 1.118, 1.120, 1.122, 1.123, 1.124, 1.125, 1.126, and 

1.127, and 1.129 when used with RSLogix™ 5000 software or the Studio 5000 

Logix Designer™ application.

The -S in the catalog number indicates the safe torque-off feature in Kinetix 6000 

multi-axis servo drives.

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.

IMPORTANT When commissioning your Kinetix 6000 drive (IAM or AM modules) with the safe-off 

feature, firmware revision 1.88 or later is required.

For Kinetix 6000 safe-off connector, wiring, and troubleshooting information, refer to 

the Kinetix Safe-off Feature Safety Reference Manual, publication GMC-RM002.

IMPORTANT Using firmware revision 1.83 or later with Motor Feedback Noise fault-action set to 

Status Only can result in absolute position offset due to the loss of feedback 

information. For applications requiring precise absolute positioning or axis 

synchronization, verify the Motor Feedback Noise fault action is correct for your 

application.

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