Kollmorgen AKD series User Manual

22.7 Exception Response Codes
Standard Codes
Description
Exception
Code
Illegal Function 1
Illegal data address 2
Illegal Data Value 3
Slave Device Failure 4
Acknowledge 5
Slave Device Busy 6
Memory Parity Error 8
Gateway Path Unavailable 10
Gateway Target Device Failed To
Respond
11
Manufacturer Codes
Description
Exception
Code
Illegal Block Size (must be two registers for 32-bit and four
registers for 64-bit parameters)
32
Unknown Parameter (bad address) 33
Error Processing Command (such as "Data value is greater
than maximum")
34
Byte Count field is invalid in request 35
AKD User Guide | 22 Modbus
Kollmorgen | December 2010 73

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