Kollmorgen AKD series User Manual

Fault Message/Warning Cause Remedy
406 BiSS multicycle fault. Check primary feedback (X10 con-
nection), Biss only.
407 BiSS sensor fault. Check primary feedback (X10 con-
nection), Biss only.
408 to
416
SFD Feedback Fault Bad communication with the SFD
device.
Check primary feedback (X10
connection).If fault persists,
internal feedback failure. Return
to manufacturer for repair.
417 Broken wire in primary feed-
back.
In primary feedback, a broken wire was
detected (incremental encoder signal
amplitude).
Check feedback cable con-
tinuity.
418 Primary feedback power
supply.
Power supply fault for primary feedback. Check primary feedback (X10
connection).
419 Encoder init procedure failed Phase find procedure did not complete
successfully.
Check encoder wiring,
reduce/balance motor load prior
to phase finding.
424 Resolver amplitude low. Resolver signal amplitude is below mini-
mum level.
Check primary feedback (X10
connection).
425 Resolver amplitude high. Resolver signal amplitude is above max-
imum level.
Check primary feedback (X10
connection).
426 Resolver error. Resolver excitation fault. Check primary feedback (X10
connection).
427 Analog low. Analog signal amplitude low. Check primary feedback (X10
connection).
428 Analog high. Analog signal amplitude high. Check primary feedback (X10
connection).
429 Incremental low. Incremental encoder signal amplitude is
below minimum level.
Check primary feedback (X10
connection).
430 Incremental high. Incremental encoder signal amplitude is
above maximum level.
Check primary feedback (X10
connection).
431 Secondary feedback Hall
error.
Secondary feedback illegal Hall state
(000,111).
Check X9 connection.
432 Communication fault. General communication problem with
secondary feedback.
Check secondary feedback
(X10 connection).
437 Close to limit. Drive or motor over current or over
speed warning.
Check for increased load, jam-
ming or sticking. Is position error
set too low?
438 Following error (numeric)
Warning issued prior to fault.
Motor did not follow command values.
Motor exceeded maximum allowed posi-
tion following error (numeric).
Check for increased load, jam-
ming or sticking. Is position error
set too low?
439 Following error (user).
Warning issued prior to fault.
Motor did not follow command values.
Motor exceeded maximum allowed posi-
tion following error (user).
Check feedback commutation
setup and tuning parameters.
450 Following error (pre-
sentation).
Motor did not follow command values.
Motor exceeded maximum allowed posi-
tion following error (presentation).
Check feedback commutation
setup and tuning parameters.
473 Wake and Shake. Insuf-
ficient movement
There was less movement than defined
by WS.DISTMIN.
Increase WS.IMAX and/or
WS.T
475 Wake and Shake. Excess
movement.
WS.DISTMAX has been exceeded. Increase WS.DISTMAX value
or reduce WS.IMAX or WS.T.
AKD User Guide | 17 Faults and Warnings
Kollmorgen | December 2010 213

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