text: <s>[INST] Servos and kinetix 6500 Summary: Problems with motion of servos and kinetix 6500Good morning, I have 4 kinetix 6500 and 4 servos MPM-B1653C-MJ74AA. I have them all on stopped status, and i am using Motion Direct Commands to move them, but i'm having several problems with them. The MDC that I use when in stopped status are: MSO->Goes to Running Status->MAM->Starts moving with an incredible intense noise (like if its stopped by the breaks at least partially)->MAS->It stops the motion, but the noise stills and even more intense->MSF (the noise dissapears and goes to Stopped) That is the same for the 4, but each has particular problems: servo1: This one can move, stop, and change speed(fast and slow), even though the intense noise is there (and varies depending on speed and accel/decel) but with less than 5 min of use, it was super hot and finally an overtemp error appear. servo2: with the same speed the first one did well, this one does not. with very little speed it can moves a little bit, but eventually an S55 error appears (excessive velocity error) servo3: when it starts moving, in about 10 seconds maximum, it appears the FLT S13 and FLT S14 (inverter thermal overload factory limit / inverter thermal overload user limit), and also appeared the S55 error servo4: much like servo3 Any tips would be greatly appreciated Andres [/INST] Have you performed a polarity check and an autotune on each of the axes? You must do these two things before you can use an axis. It also sounds like you have polarity problems with wiring for both power and feedback cables. Before performing the polarity test and autotune, THOROUGHLY examine the power wiring connections and feedback connections. Are these Rockwell cables, or cables made by a third party such as Igus or Lapp? I have encountered one instance where a third-party cable was incorrectly made and caused us several days of down-time while we traced it. You must check each termination that you made. A crossed wire on the motor power cable can cause the results you've described. A crossed wire on the feedback terminations at the drive could also do this. \\n </s>