Kollmorgen AKD Installation Manual

Fault Message/Warning Cause
n102 Operational FPGA is not a default
FPGA.
The FPGA minor version is larger than the operational
firmware default FPGA minor version
F103 Resident FPGA failed. Software failure detected. Load resident FPGA failure
occurred (several cases according to flowchart, including
incompatible image to FPGA type and fieldbus type).
F104 Operational FPGA failed. Software failure detected. Load operational FPGA failure
occurred (several cases according to flowchart).
F105 Non-volatile memory stamp invalid. Non-volatile memory stamp is corrupted or invalid.
F106 Non-volatile memory data Non-volatile memory data is corrupted or invalid. When
this fault occurs after a firmware download, it is not an
indication of a problem (clear the fault and perform a
“save” to the drive).
n107 Positive switch limit exceeded. Positive software position limit is exceeded.
n108 Negative switch limit exceeded. Negative software position limit is exceeded.
F121 Homing error. Drive did not finish homing sequence.
F123
n123
Invalid motion task. Invalid motion task.
F125
n125
Synchronization lost. The fieldbus lost synchronization.
F126
n126
Too much movement. Too much movement was created during a Bode plot.
Motor is unstable and is not following drive instructions.
F128 MPOLES/FPOLES not an integer. Ratio of motor poles to feedback poles must be a whole
number.
F129 Heartbeat lost. Heartbeat lost.
F130 Secondary feedback supply over cur-
rent.
5V power supply was shorted out on X9.
F131 Secondary feedback A/B line break. Problem in secondary feedback detected.
F132 Secondary feedback Z line break. Problem in secondary feedback detected.
F133 Fault number changed to to F138.
See F138 for details.
F134 Secondary feedback illegal state. Feedback signals were detected in an illegal com-
bination.
F135
n135
Homing is needed. Attempt to issue motion task before the axis is homed.
Axis must be homed before motion task can start.
F136 Firmware and FPGA versions are not
compatible
The FPGA version does not match the firmware FPGA
version constants.
n137 Homing and feedback mismatch The configured homing mode is not supported by the
motor feedback type used.
F138 Instability during autotune Drive current (IL.CMD) or velocity feedback (VL.FB)
exceeds allowable limit (BODE.IFLIMIT or BODE.VFLI-
MIT). Occurs in BODE.MODE 5, when complex mechan-
ics, belts, and compliant loads are present.
F139 Target Position Overshot due to
invalid Motion task activation.
The drive cannot decelerate from its current speed to
reach the end point of the second motion task without
moving past it.
n140 VBUS.HALFVOLT has changed. The user has changed the numerical value of VBUS.HAL-
FVOLT. This change only takes effect after a
DRV.NVSAVE command and after rebooting the drive.
AKD Installation | 9 Setup
Kollmorgen™ | May 2013 179

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing