Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.1 CANopen Emergency Messages and Error Codes
Emergency messages are triggered by internal equipment errors. They have a high ID-priority to ensure quick
access to the bus. An emergency message contains an error field with pre-defined error/fault numbers (2 bytes),
an error register (1byte), the error category (1 byte), and additional information.
Error numbers from 0000h to 7FFFh are defined in the communication or drive profile. Error numbers from FF00h
to FFFFh have manufacturer-specific definitions. The following table describes the various error codes:
Error
Code
Fault/Warning
Code
Description
0x0000 0 Emergency error free
0x1080 - General Warning
0x1081 - GeneralError
0x3110 F523 DC Bus link over voltage
0x3120 F247 DC Bus link under voltage
0x3130 F503 DC Bus link capacitor overload
0x3180 n503 Warning: DC Bus link capacitor overload
0x3210 F501 DC Bus link over-voltage
0x3220 F502 DC Bus Link under-voltage
0x3280 n502 Warning: DC Bus Link under-voltage.
0x3281 n521 Warning: Dynamic Braking I2T.
0x3282 F519 Regen short circuit.
0x4210 F234 Excess temperature, device (control board)
0x4310 F235 Excess temperature, drive (heat sink)
0x4380 F236 Power temperature sensor 2 high
0x4381 F237 Power temperature sensor 3 high.
0x4382 F535 Power board overtemperature
0x4390 n234 Warning: Control temperature sensor 1 high.
0x4391 n235 Warning: Power temperature sensor 1 high.
0x4392 n236 Warning: Power temperature sensor 2 high.
0x4393 n237 Warning: Power temperature sensor 3 high.
0x4394 n240 Warning: Control temperature sensor 1 low.
0x4395 n241 Warning: Power temperature sensor 1 low.
0x4396 n242 Warning: Power temperature sensor 2 low.
0x4397 n243 Warning: Control temperature sensor 1 low.
0x4398 F240 Control temperature sensor 1 low.
0x4399 F241 Power temperature sensor 1 low.
0x439A F242 Power temperature sensor 2 low.
0x439B F243 Power temperature sensor 3 low.
0x5113 F512 5V0 under voltage
0x5114 F505 1V2 under voltage
0x5115 F507 2V5 under voltage
0x5116 F509 3V3 under voltage
0x5117 F514 +12V0 under voltage
0x5118 F516 -12V0 under voltage
0x5119 F518 Analog 3V3 under voltage
0x5180 F504 1V2 over voltage
0x5181 F506 2V5 over voltage
0x5182 F508 3V3 over voltage
42 Kollmorgen™ | November 2012

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