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Kollmorgen AKD Fault Card

Kollmorgen AKD
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Fault
(F”)
Warning
(n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F133 Fault number changed to
to F138. See F138 for
details.
Disable
power
stage
F134 Secondary feedback
illegal state.
Feedback signals were
detected in an illegal
combination.
Check X9 connection. Disable
power
stage
F135
n135
Fault on FB2 is pre-
venting remote com-
mutation for FB1.
Attempt to issue motion
task before the axis is
homed. Axis must be
homed before motion
task can start.
Change opmode or home
axis.
Disable
power
stage
F136 Firmware and FPGA ver-
sions are not compatible.
The FPGA version does
not match the firmware
FPGA version con-
stants.
Load the FPGA version
that is compatible with the
firmware.
Disable
power
stage
n137 Homing and feedback
mismatch
The configured homing
mode is not supported
by the motor feedback
type used.
Change homing mode. None
F138 Instability during auto-
tune.
Drive current (IL.CMD)
or velocity feedback
(VL.FB) exceeds allow-
able limit
(BODE.IFLIMIT or
BODE.VFLIMIT). This
fault only occurs in
BODE.MODE 5. This
fault often occurs when
complex mechanics,
belts, and compliant
loads are present.
Change BODE.MODE if
appropriate. If
BODE.MODE 5 is appro-
priate and the fault occurs
at the end of an Autotuning,
then the motor is not
robustly stable. You can
manually adjust Autotuner
settings. Manual tuning
may be required to make
the motor stable.
Controlled
stop
F139 Target position was over-
shot due to invalid motion
task activation.
The drive cannot decel-
erate from its current
speed to reach the end
point of the second
motion task without
moving past it. Increase
the deceleration rate in
the move or trigger the
move earlier.
Change Motion task profile
and clear fault with
DRV.CLRFAULTS. Or
change the value of
FAULT139.ACTION = 1 to
ignore this condition.
Disable
power
stage
AKD Fault Card | 2 Fault and Warning Messages
Kollmorgen | kdn.kollmorgen.com | November 2019 8

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Kollmorgen AKD Specifications

General IconGeneral
Control ModesTorque, Velocity, Position
Communication InterfacesEtherCAT, CANopen
Feedback OptionsResolver
SafetySTO (Safe Torque Off), SS1 (Safe Stop 1)
Protection FeaturesOvercurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range0°C to 55°C
Humidity5% to 95% non-condensing

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