10.5.2 Drive Safety Faults
More information about drive fault messages, remedy and clearing faults can be found in the WorkBench
User Manual.
# Description Cause Remedy
F9000
Safe Torque Off
STO function has been triggered while the axis is
enabled.
See (➜ # 1, STO (Safe Torque
Off))
F9004
Safe Torque Off digital
and analog lines don't
match
Hardware fault on the power board.
Restart drive.
If issue persists, contact technical
support.
F9005 STO Simultaneity
The two STO inputs did not change state within 100ms of
each other.
Check wiring and safety apparatus
10.5.3 Safety Warnings
More information about drive warnings can be found in the WorkBench User Manual.
# Description Cause Remedy
W9000 Safe Torque Off STO function has been triggered. See (F9000 , ➜ # 191)
10.5.4 Troubleshooting Functional Safety
Eliminate errors and faults in compliance with work safety rules. Troubleshooting only by qualified and
trained staff.
Problem Possible Causes Remedy causes
A group "90" safety fault or
safety warning message is
visible in the drive LCD
display
Refer to the Drive Safety Fault and Warning tables (➜ # 191).
A fault or warning message
of another group than "90" is
visible in the drive LCD
display
Refer to the drive fault and drive warnings tables (➜ # 177) and more detailled descriptions in
the WorkBench User Manual.
Safety faults and warnings
are not visible/reported
AXIS#.SAFE.STO.
REPORTFAULT is set to 0
Set AXIS#.SAFE.STO.
REPORTFAULT to 1
STO cannot be deactivated
(no torque)
1. External safety device
defective.
2. STO wiring defective.
3. Auxiliary voltage low.
4. STO inputs defective.
5. F9004 visible
6. F9005 visible.
7. OSSD pulses too long
(>1ms).
8. STO channels are unequal
for more than 100ms.
1. Check external safety device.
2. Check STO wiring for short-circuit or similar.
3. Check voltage level (➜ # 184) .
4. Send drive to manufacturer for repair.
5. Send drive to manufacturer for repair.
6. Check safety hardware system.
7. Check safety controller. Switch off OSSD.
8. Check external safety device.
Drive does not enable
1. STO is still active. 1. Deactivate STO prior to HW Enable.
AKD2G-S Installation Manual, Safety 1
Kollmorgen | kdn.kollmorgen.com | S103, March 2023 191
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