Kollmorgen AKD Fault Card

Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F476 Wake and Shake - Fine-
Coarse delta too large.
The angle difference
between the coarse and
fine calculation was lar-
ger than 72 deg.
Modify WS.IMAX or WS.T
and try again.
Disable
power
stage
F478
n478
Wake and Shake - Over
speed
WS.VTHRESH was
exceeded.
Increase WS.VTHRESH
value or reduce WS.IMAX
or WS.T.
Disable
power
stage
F479
n479
Wake and Shake - Loop
angle delta too large.
The angle between com-
plete loops was larger
than 72 deg.
Modify WS.IMAX or WS.T
and try again.
Disable
power
stage
F480 Field bus command velo-
city too high.
Fieldbus command velo-
city exceeds
VL.LIMITP.
Lower fieldbus command
trajectory, or increase the
value of VL.LIMITP.
Disable
power
stage
F481 Field bus command velo-
city too low.
Fieldbus command velo-
city exceeds
VL.LIMITN.
Increase fieldbus com-
mand trajectory, or
decrease the value of
VL.LIMITN.
Disable
power
stage
F482 Wake and Shake - Com-
mutation not initialized.
The motor requires the
commutation ini-
tialization (there are no
encoder commutation
tracks, Hall sensors,
etc.) and no successful
Wake and Shake
sequence has been per-
formed
Clear any faults, activate
the Wake and Shake pro-
cedure (WS.ARM) and
enable the drive.
Disable
power
stage
F483 Wake and Shake - Motor
U phase missing.
No current was detec-
ted in the motor's U
phase during Wake and
Shake initialization
(Mode 0 only).
Check the motor con-
nections and WS.IMAX
(very low current may pro-
duce this error).
Disable
power
stage
F484 Wake and Shake - Motor
V phase missing.
No current was detec-
ted in the motor's V
phase during Wake and
Shake initialization
(Mode 0 only).
Check the motor con-
nections and WS.IMAX
(very low current may pro-
duce this error).
Disable
power
stage
F485 Wake and Shake - Motor
W phase missing.
No current was detec-
ted in the motor's W
phase during Wake and
Shake initialization
(Mode 0 only).
Check the motor con-
nections and WS.IMAX
(very low current may pro-
duce this error).
Disable
power
stage
F486 Input change rate
exceeds maximum speed
of emulated encoder.
Motor velocity exceeds
the maximum speed the
emulated encoder out-
put can generate.
Reduce value of
DRV.EMUEPULSEWIDT-
H.
Controlled
stop
AKD Fault Card | 2 Fault and Warning Messages
Kollmorgen | kdn.kollmorgen.com | November 2019 20

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