Siemens alarm 20006: [Channel %1: ] Axis %2 reference point shutdown velocity not reached

What it means

During referencing the axis could not reach the velocity demanded for the final approach onto the reference point. The NCK monitors whether the drive attains the programmed search and shutdown speeds; failure aborts the run because the mark spacing logic depends on defined speeds.

Likely causes

• mechanical overload, binding guides or seized elements slowing the axis
• drive current/torque limit reached during acceleration
• referencing velocities in MD 34020/34040 set above what the drive can achieve
• undersized or degraded motor/drive combination

Replacement parts

We supply the following units for this alarm — tested, warranty-backed:

• 1FK6/1FK7 servomotor

  motor · Check if others ruled out

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• 6SN1123 power module (SIMODRIVE 611D)

  drive · Check if others ruled out

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