Kollmorgen AKD Fault Card

2 Fault and Warning Messages
When a fault occurs a specific fault reaction is executed by the drive. Depending on the fault, the reaction can
be to:
l Controlled stop, which slows down any motion to zero velocity (see also CS.VTHRESH and CS.TO )
and disables the power stage.
l Disable power stage, which immediately disables the power stage (also known as coast to stop).
l Dynamic brake, which slows down the motor load by shorten the motor phases.
If the drive has a fault relay, it is immediately open when a fault occurs.
2.1 Fault & Warning Indicators at the Device
For devices with two 7-segments display
The display on the front panel shows the number of the fault that occurred. If a warning is issued prior to the
fault, the warning is shown on the segment and has the same number as the associated fault.
The left 7 segment display shows “F” for a fault or “n” for a warning. The right one shows the fault or warning
number as follows: “x” [break] “y” [break] “z” [break], where xyz describes the number. The highest priority
fault is displayed. Multiple faults may be present when a fault condition is occurring.
For devices with one 7-segment display
The display on the front panel shows the number of the fault that occurred. If a warning is issued prior to the
fault, the warning is shown on the segment and has the same number as the associated fault.
The 7 segment shows the fault or warning and the number through the following sequence: “F” or “n” [break]
“x” [break] “y” [break] “z” [break], The highest priority fault is displayed. Multiple faults may be present when a
fault condition is occurring.
For devices without any display, but with a LED
A multicolor LED on the device shows if a fault or warning is occurring. Faults are indicated with a red blink-
ing. Warnings with a yellow blinking. When connected to workbench, the main screen shows the “virtual” two
segment display from the device.
2.2 Fault & Warning Details with a Connected Device
With the device connected to workbench, the main screen shows a “virtual” 7-segment display, with appro-
priate sequence for a fault / warning code. The status bar at the button of workbench shows if a warning or
fault is active. The faults and warnings screen shows the details of the actual faults as well as the fault his-
tory. In the terminal, the entire list of faults can be read by DRV.FAULTS. This command can also be used by
any external controller or HMI that is connected to the device. A similar command for warnings is
DRV.WARNINGS.
AKD Fault Card | 2 Fault and Warning Messages
Kollmorgen | kdn.kollmorgen.com | November 2019 4

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