Kollmorgen AKD Installation Manual

Fault Message/Warning Cause
F461 Tamagawa encoder: counting Error. When the feedback is powered on the position (within on
revolution) was incorrect because of a problem with the
feedback device.
F462 Tamagawa encoder: counting over-
flow.
Multi-turn counter has overflowed.
F463 Tamagawa encoder: overheat. The temperature of the encoder substrate exceeds over-
heating detection temperature during main power-on.
F464 Tamagawa encoder: multiturn error. Any bit-jump occurs in the multi-turn signal during main
power-on.
F467 Hiperface DSL fault. Hiperface DSL feedback malfunction.
F473 Wake and Shake. Insufficient move-
ment
There was less movement than defined by WS.DIS-
TMIN.
F475 Wake and Shake. Excess move-
ment.
WS.DISTMAX has been exceeded in WS.MODE0. Or
more than 360 degrees was traveled in WS.MODE2.
F476 Wake and Shake. Fine-coarse delta
too large.
The angle difference between the coarse and fine cal-
culation was larger than 72 deg.
F478
n478
Wake and Shake. Overspeed. WS.VTHRESH was exceeded.
F479
n479
Wake and Shake. Loop angle delta
too large.
The angle between complete loops was larger than 72
deg.
F480 Fieldbus command velocity too high. Fieldbus command velocity exceeds VL.LIMITP.
F481 Fieldbus command velocity too low. Fieldbus command velocity exceeds VL.LIMITN.
F482 Commutation not initialized. The motor requires the commutation initialization (there
are no encoder commutation tracks, Hall sensors, etc.)
and no successful Wake and Shake sequence has been
performed
F483 Motor U phase missing. No current was detected in the motor's U phase during
Wake and Shake initialization (Mode 0 only).
F484 Motor V phase missing. No current was detected in the motor's V phase during
Wake and Shake initialization (Mode 0 only).
F485 Motor W phase missing. No current was detected in the motor's W phase during
Wake and Shake initialization (Mode 0 only).
F486 Motor velocity exceeds EMU-speed. Motor velocity exceeds the maximum speed the emu-
lated encoder output can generate.
F487 Wake and Shake - Validating Pos-
itive Movement Failed.
After applying a positive current, motor moved in the
wrong direction.
F489 Wake and Shake - Validating Neg-
ative Movement Failed.
After applying a negative current, motor moved in the
wrong direction.
F490 Wake and Shake - Validating Comm.
angle timed out.
During one of the W&S validation stages, the drive
stopped responding to commands.
F491 Wake and Shake - Validating Comm.
angle moved too far - Bad Comm
Angle.
After applying a current, the motor moved too far (>15
electrical degrees).
F492 Wake and Shake - Validating Comm.
angle required more than
MOTOR.ICONT.
A current larger than MOTOR.ICONT was used to excite
the motor.
AKD Installation | 9 Setup
Kollmorgen™ | May 2013 183

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