Kollmorgen AKD Fault Card

Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
n169 1:1 profile cannot be
triggered on the fly.
This warning appears
with n160. This warning
is triggered when you try
to trigger a 1:1 profile
table motion task while
another motion task is
currently running.
1:1 profile table motion
tasks should be started
from velocity 0. Activation
of any new motion or using
of DRV.CLRFAULTS will
clear the warning.
None
n170 Customer profile table is
not initialized.
This warning appears
with n160. This warning
is triggered when you try
to trigger a motion task
that uses a customer
profile table for gen-
erating the velocity pro-
file and when the
selected profile table is
empty (see MT.CNTL
and MT.TNUM.
Change the MT.TNUM
parameter for this specific
motion task in order to use
an initialized profile table.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning.
None
n179 Teaching of Cogging com-
pensation stopped before
finishing.
The cogging com-
pensation teach move
could not be completed.
Some common causes
are limit switches,
mechanical blockage or
the drive being disabled
due to a fault.
Make sure your motor is
able to move the distance
required by the cogging
compensation teach move
and start the move again.
N/A
n180 Cogging compensation
not active. Axis needs to
be homed first.
Using a non-absolute
feedback a homing pro-
cedure is needed before
cogging compensation
can be applied.
Execute a homing pro-
cedure or deactivate cog-
ging compensation.
N/A
F201 Internal RAM failed. Hardware failure detec-
ted.
Restart drive. If issue per-
sists, contact technical
support.
Disable
power
stage
F202 External RAM failed. Hardware failure detec-
ted.
Restart drive. If issue per-
sists, contact technical
support.
Disable
power
stage
F203 Code Integrity failed. Software failure detec-
ted. FPGA register
access failure occurred.
Restart drive. If issue per-
sists, contact technical
support.
Disable
power
stage
F204-
F232
EEPROM failure detec-
ted
EEPROM failure detec-
ted
Restart drive. If issue per-
sists, exchange drive.
Disable
power
stage
AKD Fault Card | 2 Fault and Warning Messages
Kollmorgen | kdn.kollmorgen.com | November 2019 12

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