Kollmorgen AKD series User Manual

Fault Message/Warning Cause Remedy
125 Synchronization lost.
Warning issued prior to fault.
The fieldbus lost synchronization. Check fieldbus connection (X5
and X6 if you are using Ether-
CAT; X12 and X13 if you are
using CANopen) or the settings
of your EtherCAT or CANopen
master.
126 Too much movement.
Warning issued prior to fault.
Too much movement was created dur-
ing a Bode plot. Motor is unstable and is
not following drive instructions.
Check that the system is closed
loop stable. Refer to the system
tuning guide.
127 Incomplete emergency stop
procedure.
Incomplete emergency stop procedure
(problem with the emergency stop
motion task).
Disconnect power from drive
and check emergency stop pro-
cedure.
128 MPOLES/FPOLES not an
integer.
Ratio of motor poles to feedback poles
must be a whole number.
Change to a compatible feed-
back device.
129 Heartbeat lost. Heartbeat lost. Check CANopen cabling.
Reduce bus load or increase the
heartbeat update time.
130 Secondary feedback supply
over current.
Problem in secondary feedback
detected.
Check X9 connection.
131 Emulated encoder line
break.
Problem in secondary feedback
detected.
Check secondary feedback (X9
connection).
132 Emulated encoder Z break. Problem in secondary feedback
detected.
Check secondary feedback (X9
connection).
133 Instability during Autotune Drive current (IL.CMD) or velocity feed-
back (VL.FB) exceeds allowable limit
(BODE.IFLIMIT or BODE.VFLIMIT).
This fault only occurs in BODE.MODE
5, which uses a stability checking algo-
rithm. This fault often occurs when com-
plex mechanics, belts, and compliant
loads are present, which make accurate
measurement hard to obtain with the
Autotuner settings.
Change BODE.MODE if appro-
priate. If BODE.MODE 5 is
appropriate and the fault occurs
at the end of an Autotuning, then
the motor is not robustly stable.
You can manually adjust Auto-
tuner settings to increase FFT
point resolution, record points,
and current excitation. Manual
tuning may be required to make
the motor stable.
134 Secondary feedback illegal
state.
Problem in secondary feedback
detected.
Check X9 connection.
135 Homing is needed.
Warning issued prior to fault.
Attempt to issue motion task before the
axis is homed. Axis must be homed
before motion task can start.
Change opmode or home axis.
201 Internal RAM failed. Hardware failure detected. Restart drive. If issue persists,
contact technical support.
202 External RAM failed. Hardware failure detected. Restart drive. If issue persists,
contact technical support.
203 Code integrity failed. Software failure detected. FPGA reg-
ister access failure occurred.
Restart drive. If issue persists,
contact technical support.
204 to
232
EEPROM failure detected EEPROM failure detected Restart drive. If issue persists,
exchange drive.
234 to
237
Temperature sensor high.
Warning issued prior to fault.
High temperature limit reached. Check cabinet ventilation sys-
tem.
AKD User Guide | 17 Faults and Warnings
Kollmorgen | December 2010 211

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