AKD Installation | 9 Setup
Fault Message/Warning Cause
n151 Not enough distance to move; motion
exception.
For trapezoidal and customer table motion tasks: The tar-
get velocity specified in the motion task cannot be
reached via using the selected acceleration and decel-
eration since the distance to travel is not sufficient.
For a 1:1 profile: The selected acceleration and decel-
eration will be extended since there is too much distance
to travel and the motion task would exceed its maximum
allowed velocity.
n152 Not enough distance to move; fol-
lowing motion exception.
A new motion task activated, when one motion task is
already active and the target position specified in the
motion task parameters cannot be reached with specified
target velocity, acceleration and deceleration parameters.
n153 Velocity limit violation, exceeding
max limit.
A new target velocity calculated internally due to an
exception, and is being limited due to user velocity limit.
n154 Following motion failed; check
motion parameters.
Activation of the following motion task failed due to incom-
patible parameters, or motion task does not exist.
n156 Target position crossed due to stop
command.
The motion task crosses the target position after trig-
gering a DRV.STOP command. This situation can
happen when processing a change-on-the-fly motion task
and triggering a DRV.STOP command close to the target
position of the currently running motion task.
n157 Homing index pulse not found. A homing mode with index detection is activated, and
index pulse is not detected while moving across the
range determined by the hardware limit switches.
n158 Homing reference switch not found. A homing mode with reference switch detection is acti-
vated and the reference switch is not detected while mov-
ing across the range determined by the hardware limit
switches.
n159 Failed to set motion task parameters Invalid motion task parameters assignment. This warning
can appear upon an MT.SET command.
n160 Motion task activation failed. Activation of the motion task failed due to incompatible
parameters, or motion task does not exist. This warning
can appear upon an MT.MOVE command.
n161 Homing procedure failed. Homing error observed during the operation of homing pro-
cedure.
n163 MT.NUM exceeds limit. Appears with n160, when you try to trigger a motion task
> 128 (such as MT.MOVE 130).
n164 Motion task is not initialized. Appears with n160, when you try to trigger a non-initial-
ized motion task.
n165 Motion task target position is out. Appears with n160, when you try to trigger a motion task
with an absolute target position outside of the selected
modulo range (see also MT.CNTL).
n167 SW limit switch traversed
n168 Invalid bit combination in the motion
task control word.
Appears with n160, when you try to trigger a motion task
with an invalid bit combination in the motion task control
word (see also MT.CNTL).
n169 1:1 profile cannot be triggered on the
fly.
Appears with n160, when you try to trigger a 1:1 profile
table motion task while another motion task is currently
running.
180 Kollmorgen™ | May 2013
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