Kollmorgen AKD series User Manual

AKD User Guide | 17 Faults and Warnings
17.1 Fault and Warning Messages
When a fault occurs, the drive fault relay is opened, the output stage is switched off (motor loses all torque), or
the load is dynamically braked. The specific drive behavior depends on the type of fault. The LED display on the
front panel of the drive shows the number of the fault that occurred. If a warning is issued prior to the fault, the
warning is shown on the LED and has the same number as the associated fault. Warnings do not trip the power
stage of the drive or fault relay output.
The left side of the LED displays F for a fault or n for a warning. The right side displays the fault or warning
number as follows: 1-0-1-[break]. The highest priority fault is displayed on the LED. Multiple faults may be
present when a fault condition is occurring. Check the AKDWorkBench Fault Screen or read the status of
DRV.FAULTS through the controller or HMI for the entire list of faults.
More information about fault messages and clearing faults can be found in the
WorkBench online help. Procedures for clearing faults are described in the online
help topic entitled "Faults and Warnings".
Fault Message/Warning Cause Remedy
0 Reserved. N/A
101 Firmware incompatible.
Warning issued prior to fault.
Installed firmware is not compatible with
the drive hardware.
Load compatible firmware into
the drive.
102 Resident firmware failed.
Warning issued prior to fault.
Software failure detected. Restart drive. If issue persists,
contact technical support.
103 Resident FPGA failed. Software failure detected. Load resident
FPGA failure occurred (several cases
according to flowchart, including incom-
patible image to FPGA type and fieldbus
type).
Restart drive. If issue persists,
contact technical support.
104 Operational FPGA failed. Software failure detected. Load oper-
ational FPGA failure occurred (several
cases according to flowchart).
Restart drive. If issue persists,
contact technical support.
105 NV memory stamp invalid. NV memory stamp is corrupted or
invalid.
Reset the drive to default mem-
ory values using Parameter
Load in WorkBench.
106 NV memory data (might
occur when downloading
firmware).
NV memory data is corrupted or invalid.
This fault often occurs when down-
loading firmware.
Reset the drive to default mem-
ory values using Parameter
Load in WorkBench.
107 Positive switch limit
exceeded.
Warning issued prior to fault.
Positive software position limit is
exceeded.
Move the load away from the lim-
its.
108 Negative switch limit
exceeded.
Warning issued prior to fault.
Negative software position limit is
exceeded.
Move the load away from the lim-
its.
121 Homing error. Drive did not finish homing sequence. Check homing sensor.
123 Invalid motion task.
Warning issued prior to fault.
Invalid motion task. Check motion task settings and
parameters to make sure that
the values entered will produce a
valid motion task. Refer to the
motion task documentation for
additional guidance on specific
causes of invalid motion tasks.
210 Kollmorgen | December 2010

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