Kollmorgen AKD series Installation Manual

Code Message/Warning
F134 Secondary feedback illegal state.
F135, n135 Fault on feedback 2 prevents remote commutation on feedback 1.
F136 Firmware and FPGA versions are not compatible.
n137 Homing and feedback mismatch.
F138 Instability during autotune.
F139 Target position overshot due to invalid motion task activation.
n151 Not enough distance to move; motion exception.
n152 Not enough distance to move; following motion exception.
n153 Velocity limit violation, exceeding max limit.
n154 Following motion failed; check motion parameters.
n156 Target position crossed due to stop command.
n157 Homing index pulse not found.
n158 Homing reference switch not found.
n159 Failed to set motion task parameters
n160 Motion task activation failed.
n161 Homing procedure failed.
n163 MT.NUM exceeds limit.
n164 Motion task is not initialized.
n165 Motion task target position is out.
n167 SW limit switch traversed
n168 Invalid bit combination in the motion task control word.
n169 1:1 profile cannot be triggered on the fly.
n170 Customer profile table is not initialized.
n171 Motion task activation is currently pending
n174 Homing maximum distance exceeded
n179 Teaching of cogging compensation stopped before finishing.
n180 Cogging compensation not active. Axis needs to be homed first.
F201 Internal RAM failed.
F202 External RAM failed.
F203 Code integrity failed.
F204 to F232 EEPROM failure detected
F234 to F237 (n234 to n237) Temperature sensor high.
F240 to F243 (n240 to n243) Temperature sensor low.
F245 External fault.
F247 Bus voltage exceed allowed thresholds.
F248 Option board EEPROM corrupted.
F249 Option board downstream checksum.
F250 Option board upstream checksum.
F251 Option board watchdog.
F252 Firmware and option board FPGA types are not compatible.
F253 Firmware and option board FPGA versions are not compatible.
F256, n256 Analog Input, overvoltage
F257, n257 Analog Input, undervoltage
F301, n301 Motor overheated.
F302 Over speed.
AKD Installation | 10 Setup
Kollmorgen | kdn.kollmorgen.com | October 2017 203

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing