Kollmorgen AKD Installation Manual

6.14.2.4 Switch-off behavior in the event of a fault
The behavior of the drive always depends on the fault type and the setting of a number of dif-
ferent parameters (DRV.DISMODE, VBUS.UVFTHRESH, CS.VTHRESH, and others; see
the AKDUser Guide or WorkBench help for more details).See the Drive Fault and Warning
Messages and Remedies section of the AKDUser Guide for a table describing the specific
behavior of each fault.
The follwing pages show examples for the possible fault behaviors.
Switch-off behavior for faults that cause an immediate power stage disable
This is a category 0 stop according to IEC 60204 (➜ p. 50).
If velocity drops below threshold CS.VTHRESH or timeout occurs the motor holding brake is
applied (➜ p. 102). Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the
motor holding brake immediately after faults.
AKD Installation | 6 Technical description and data
Kollmorgen™ | May 2013 47

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