Kollmorgen AKD Fault Card

AKD Fault Card | 2 Fault and Warning Messages
Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F487 Wake and Shake - Val-
idating Positive Move-
ment Failed.
After applying a positive
current, motor moved in
the wrong direction.
Check motor phase wiring
and motor encoder wiring is
correct.
Disable
power
stage
F489 Wake and Shake - Val-
idating Negative Move-
ment Failed.
After applying a neg-
ative current, motor
moved in the wrong dir-
ection.
Check motor phase wiring
and motor encoder wiring is
correct.
Disable
power
stage
F490 Wake and Shake - Val-
idating Comm. angle
timed out.
During one of the W&S
validation stages, the
drive stopped respond-
ing to commands.
Contact customer support. Disable
power
stage
F491 Wake and Shake - Val-
idating Comm. angle
moved too far - Bad
Comm Angle.
After applying a current,
the motor moved too far
(>15 electrical degrees).
This indicates a poor motor
phase angle was found by
Wake and Shake. Revise
Wake and Shake para-
meters, and re-run Wake
and Shake.
Disable
power
stage
F492 Wake and Shake - Val-
idating Comm. angle
required more than
MOTOR.ICONT
A current larger than
MOTOR.ICONT was
used to excite the
motor.
This indicates one of the fol-
lowing:
l Phase angle is incor-
rect due to a bad
wake and shake.
l Motor has very high
friction requiring
high current to break
free.
l Motor power cable
is disconnected or
improperly wired.
Disable
power
stage
F493 Invalid commutation
detected - motor accel-
erating in the wrong dir-
ection. Motor phase may
be incorrect.
The velocity of the
motor exceeded
WS.CHECKV and the
sign of the current was
not equal to the sign of
motor acceleration or
the sign of motor velo-
city for a period of time
larger than
WS.CHECKT.
1. Check motor phase wir-
ing 2. Re-configure wake
and shake (if Mode 0 or 1 is
used) 3. Re-run wake and
shake to determine correct
commutation angle
Dynamic
braking
n495 Failed to process
recorder cogging com-
pensation table.
The drive was unable to
retrieve or process the
data gathered during the
cogging compensation
teach move.
Try starting another cog-
ging compensation teach
move. Should the warning
continue to appear, contact
customer support.
N/A
21 Kollmorgen | kdn.kollmorgen.com | November 2019

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