Kollmorgen AKD series User Manual

AKD User Guide | 17 Faults and Warnings
17.2 Clearing Faults
You can clear drive faults in four ways: 1. using the WorkBench toolbar; 2. using the WorkBench terminal screen,
3.using the CANopen interface; or 4.using an external digital signal. In the first three methods, clearing the fault
automatically disables the drive (by issuing the DRV.DIS command). After the fault is cleared, you must then
enable the drive again (by issuing the DRV.EN command). In the fourth method, clearing the fault does not auto-
matically disable the drive. Once the fault is cleared, the drive will immediately become enabled again when no
fault conditions exist.
1. Using the WorkBench toolbar. Click the Clear Fault button to clear the fault, then click the Enable button
to enable the drive again.
2. Using an ASCII command. In WorkBench terminal screen, enter DRV.CLRFAULTS, then enter DRV.EN
to enable the drive.
3. Using the CANopen interface (Object 6040h: Controlword DS402). The ASCII control commands are built
up from the logical combination of the bits in the control word and external signals (enable output stage).
You can configure the Reset Fault bits in the control word to clear the fault. See Table x in the CANopen
manual for details on clearing faults using this method. After the fault is cleared, you must enable the
drive.
4. Using an external digital signal. First, provide a disable command to the drive, since this command is not
automatically issued when the fault is cleared using an external digital signal. You must provide this dis-
able command after the drive has disabled itself and before the clear fault command is issued in order for
the clear fault command to be accepted.
Digital input mode 1 clears a fault condition. In the WorkBench terminal screen, enter DINx.MODE 1, with x set
to the corresponding digital input number. Table x in the Installation Manual includes digital input numbers and cor-
responding pin connections.
Example:
DIN2.MODE 13 sets digital input 2 (pin 9 on connector X7) to perform the clear fault function. Any free digital
input shown in Table x can be set to mode 1 (Reset faults).
216 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