Kollmorgen AKD Installation Manual

Error Description Cause Remedy
E32 EtherCAT com-
munication failure
during bootstrap
mode.
EtherCAT network operation
failed due to a network com-
munciation error.
Check the EtherCAT network wiring and devices
state. Re-start the application.
E33 EtherCAT failed to
initialize into oper-
ational mode.
EtherCAT network initialization
failed due to a network com-
munciation error.
Check the EtherCAT network wiring and devices
state. Re-start the application.
E34 EtherCAT failed to
initialize into preop
mode.
EtherCAT network initialization
failed due to a network com-
munciation error.
Check the EtherCAT network wiring and devices
state. Re-start the application.
E35 EtherCAT failed to
initialize into boot-
strap mode.
EtherCAT network initialization
failed due to a network com-
munciation error.
Check the EtherCAT network wiring and devices
state. Re-start the application.
E36 EtherCAT failed to
discover the
expected devices.
EtherCAT network discovery
failed due to a mismatch
between the discovered and
expected devices.
Check the EtherCAT devices and wiring order.
Correct the device order wiring or re-scan the net-
work, re-compile, and download the updated appli-
cation. Re-start the application.
E37 EtherCAT failed to
return to init state.
EtherCAT network initialization
failed due to a network com-
munciation error.
Check the EtherCAT network wiring and devices
state. Re-start the application.
E50 Backup to SD card
failed.
An unrecoverable error occurred
during the backup operation.
Repeat the backup to SD card operation. If it fails
again, replace the SD card.
E51 Restore from SD
card failed..
An unrecoverable error occurred
during the restore operation.
Do NOT reboot the PDMM! Repeat the restore
operation. If it fails again, reset the PDMM to fac-
tory defaults. If problem persists, return hardware
for repair.
E52 SD Backup files
are missing or cor-
rupt.
The restore operation failed due
to missing, incomplete, or cor-
rupt files on the SD card.
Perform a backup operation before the restore or
use an SD card with valid backup files.
E53 AKD restore oper-
ation failed.
The restore operation failed due
to improper or incomplete AKD
configuration.
Check EtherCAT network topology by using the
Scan network button in the web-server’s Restore
tab. Correct the physical topology and re-execute
an AKD restore.
9.4.3.2 Alarms
Alarm Description Cause Remedy
A01 High temperature
exceeded
CPU temperature near the safe
operating temperature limit.
Check airflow and operating environment are
within hardware specifications.
A02 Low on memory. Memory leak or corruption. Power-off/on. If problem is recurrent, check
release notes for firmware updates or return
hardware for repair.
A04 Low input voltage +24 volt input power is +19 volts
or less.
Check power supply voltage and connection
to the PDMM.
A12 Flash memory is low
on free space.
Flash memory is almost full. Clean-up the flash memory by removing log
files, application programs, recipes, or other
data files. Reset to factory defaults.
A21 Recoverable process
or thread failed to
respond during oper-
ation.
KAS non-runtime code failed dur-
ing normal operation and was
automatically restarted.
If problem is recurrent, power-off/on. Check
release notes for firmware updates.
AKD Installation | 9 Setup
Kollmorgen™ | May 2013 189

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