Kollmorgen AKD Installation Manual

AKD Installation | 9 Setup
Fault Message/Warning Cause
F404 Hall error. Hall sensor returns invalid Hall state (111, 000); either all
Hall sensors are on or off. Can be caused by a broken
connection in any one of the Hall signals.
F405 BiSS watchdog fault. Bad communication with the feedback device.
F406 BiSS multicycle fault.
F407 BiSS sensor fault.
F408 to F416 SFD feedback fault. Bad communication with the SFD device.
F417 Broken wire in primary feedback. In primary feedback, a broken wire was detected (incre-
mental encoder signal amplitude).
F418 Primary feedback power supply. Power supply fault for primary feedback.
F419 Encoder init procedure failed Phase find procedure did not complete successfully.
F420 FB3 EnDat Communications Fault. A communication error was detected with the EnDat 2.2
device connected to the X9 connector.
F421 SFD position sensor fault Sensor or sensor wiring failure inside motor
F423 NV Failure, Multiturn Overflow. The position saved in memory is corrupted.
F424 Resolver amplitude low. Resolver signal amplitude is below minimum level.
F425 Resolver amplitude high. Resolver signal amplitude is above maximum level.
F426 Resolver error. Resolver excitation fault.
F427 Analog low. Analog signal amplitude low.
F428 Analog high. Analog signal amplitude high.
F429 Incremental low. Incremental encoder signal amplitude is below minimum
level.
F430 Incremental high. Incremental encoder signal amplitude is above maximum
level.
F432 Communication fault. General communication problem with secondary feed-
back.
F436 EnDat overheated. EnDat feedback device is over temperature.
F438
n439
Following error (numeric) Motor did not follow command values. Motor exceeded
maximum allowed position following error (numeric).
F439
n439
Following error (user). Motor did not follow command values.
Motor exceeded maximum allowed position following
error (user).
F450 Following error (presentation). Motor did not follow command values. Motor exceeded
maximum allowed position following error (presentation).
F451
n451
Tamagawa encoder: battery. The external battery voltage is too low. F451 fault is gen-
erated if the AKD is not powered. The n451 warning is
generated if the AKD is powered. This fault can be inhib-
ited with FAULT451.ACTION.
F452 Multiturn overflow not supported with
this feedback.
Non-multiturn feedback is connected while FB1.PMT-
SAVEEN is active.
F453 to F459 Tamagawa encoder: communication. Bad communication with the feedback device.
F460 Tamagawa encoder: over speed. When the drive was powered off and the feedback was
powered by the external battery, this fault is generated if
the shaft is rotated above a maximum speed that can be
maintained when battery powered.
182 Kollmorgen™ | May 2013

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