Kollmorgen AKD series User Manual

AKD User Guide |
20.6.1 CANopen Emergency Messages and Error Codes
Emergency messages are triggered by internal equipment errors. They have a high ID-priority to ensure quick
access to the bus. An emergency message contains an error field with pre-defined error/fault numbers (2 bytes),
an error register (1byte), the error category (1 byte), and additional information.
Error numbers from 0000h to 7FFFh are defined in the communication or drive profile. Error numbers from FF00h
to FFFFh have manufacturer-specific definitions. The following table describes the various error codes:
Error Code Fault/Warning
Code
Description
0x0000 0 Emergency error free
0x3110 523 Bus over voltage
0x3120 - Bus under voltage
0x3130 503 Phase failure
0x3180 503 Warning: Supply missing phase
0x3210 501 DC link over-voltage
0x3220 502 DC link under-voltage
0x4210 234 Excess temperature, device (control board)
0x4310 235 Excess temperature, drive (heat sink)
0x5113 512 Supply low voltage, U3 = supply +5 V
0x5114 505 Supply low voltage, manufacturer specific: supply 1V2
0x5115 507 Supply low voltage, manufacturer specific: supply 2V5
0x5116 509 Supply low voltage, manufacturer specific: supply 3V3
0x5117 514 Supply low voltage, manufacturer specific: supply 12 V
0x5118 516 Supply low voltage, manufacturer specific: supply -12V
0x5119 518 Supply low voltage, manufacturer specific:supply 3V3 analogue
0x5180 504 Supply overvoltage, manufacturer specific:supply 1V2
0x5181 506 Supply overvoltage, manufacturer specific:supply 2V5
0x5182 508 Supply overvoltage, manufacturer specific:supply 3V3
0x5183 510 Supply overvoltage, manufacturer specific:supply 5V0
0x5184 513 Supply overvoltage, manufacturer specific:supply 12 V
0x5185 104 Supply overvoltage, manufacturer specific:supply -12V
0x5186 517 Supply overvoltage, manufacturer specific:supply 3V3 analogue
0x5510 201 Hardware memory, RAM
0x5530 105 Hardware memory, EEPROM
0x5580 106 Hardware memory, non-volatile memory data
0x5581 202 Hardware memory, external Ram for resident firmware failed
0x5582 203 Hardware memory, code integrity failed for resident firmware
0x5583 102 Hardware memory, resident firmware failed
0x5584 103 Hardware memory, resident FPGA failed
0x5585 104 Hardware memory, operational FPGA failed
0x7180 301 Motor overheat
0x7182 305 Motor open circuit
0x7183 306 Motor short circuit
0x7184 307 Motor brake closed
0x7303 426 Resolver 1 fault
0x7305 417 Incremental sensor 1 fault
0x7380 402 Feedback 1, analogue fault
0x7381 403 Feedback 1, EnDat communication fault
0x7382 404 Feedback 1, illegal hall
55 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