Kollmorgen AKD series Installation Manual

Code Message/Warning
F479, n479 Wake & Shake - Loop angle delta too large.
F480 Wake & Shake - Fieldbus command velocity too high.
F481 Wake & Shake - Fieldbus command velocity too low.
F482 Wake & Shake - Commutation not initialized.
F483 Wake & Shake - Motor U phase missing.
F484 Wake & Shake - Motor V phase missing.
F485 Wake & Shake - Motor W phase missing.
F486 Input change rate exceeds maximum speed of emulated encoder.
F487 Wake & Shake - Validating positive movement Failed.
F489 Wake & Shake - Validating negative movement Failed.
F490 Wake & Shake - Validating commutation angle timed out.
F491 Wake & Shake - Validating commutation angle moved too far - bad comm
angle.
F492 Wake & Shake - Validating commutation angle required more than
MOTOR.ICONT.
F493 Invalid commutation detected – motor accelerating in the wrong direction.
n495 Failed to process recorded cogging compensation table.
F501, n501 Bus over voltage.
F502 Bus under voltage. Warning issued prior to fault.
F503, n503 Bus capacitor overload.
F504 to F518 Internal supply voltage fault
F519 Regen short circuit.
F521, n521 Regen over power.
F523 Bus over voltage FPGA
F524, n524 Drive foldback.
F525 Output over current.
F526 Current sensor short circuit.
F527 Iu conversor digital analógico atual preso.
F528 Iv conversor digital analógico atual preso..
F529 Iu current offset limit exceeded.
F530 Iv current offset limit exceeded.
F531 Power stage fault.
F532 Drive motor parameters setup incomplete.
F534 Failed to read motor parameters from feedback device.
F535 Power-board over-temperature fail.
F560 Regen near capacity, could not prevent over voltage.
F570, n570 Mains phase loss.
n580 Using derivate of position with sensorless feedback type in position mode.
n581 Zero velocity with induction sensorless feedback type in position mode.
n582 Velocity has been limited, commutation frequency max. 599 Hz to meet
ECCN-3A225 / AL-3A225 limits.
n601 Modbus data rate is too high.
F602 Safe torque off.
n603 OPMODE incompatible with CMDSOURCE
n604 EMUEMODEincompatible with DRV.HANDWHEELSRC.
F621 Control Board CRC fault.
AKD Installation | 10 Setup
Kollmorgen | kdn.kollmorgen.com | October 2017 205

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