Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
Error
Code
Fault/Warning
Code
Description
0x73A5 F429 Feedback 2 incremental low
0x73A6 F430 Feedback 2 incremental high
0x73A7 F431 Feedback 2 halls
0x73A8 F432 Feedback 2 communication
0x73A9 - Reserved
0x73AA - Reserved
0x73C0 F473 Wake and Shake. Insufficient movement
0x73C1 F475 Wake and Shake. Excess movement.
0x73C2 F476 Wake and Shake. Fine-coarse delta too large.
0x73C3 F478 Wake and Shake. Overspeed.
0x73C4 F479 Wake and Shake. Loop angle delta too large.
0x73C5 F482 Commutation not initialized
0x73C6 F483 Motor U phase missing.
0x73C7 F484 Motor V phase missing.
0x73C8 F485 Motor W phase missing.
0x73C9 n478 Warning: Wake and Shake. Overspeed.
0x73CA n479 Warning: Wake and Shake. Loop angle delta too large.
0x8130 F129 Life Guard Error or Heartbeat Error
0x8180 n702 Warning: Fieldbus communication lost.
0x8280 F601 Modbus data rate is too high.
0x8311 F304 Excess torque
0x8331 F524 Torque fault
0x8380 n524 Warning: Drive foldback
0x8381 n304 Warning: Motor foldback
0x8382 n309 Warning:
0x8480 F302 Velocity overspeed
0x8482 F480 Fieldbus command velocity too high
0x8481 F703 Emergency timeout occurred while axis should disable
0x8483 F481 Fieldbus command velocity too low.
0x8580 F107 Software limit switch, positive
0x8581 F108 Software limit switch, negative
0x8582 N107 Warning: Positive software position limit is exceeded.
0x8583 n108 Warning: Negative software position limit is exceeded.
0x8584 n704 Warning: PVT buffer overflow
0x8585 n705 Warning: PVT buffer underflow
0x8586 n127 Warning: Scale factor of PVT velocity command over range.
0x8611 F439 Following error
0x8684 n123 Warning: Motion global warning
0x8685 F138 Instability during autotune
0x8686 F151 Not enough distance to move; Motion Exception
0x8687 F152 Not enough distance to move; Following Motion Exception
0x8688 F153 Velocity Limit Violation, Exceeding Max Limit
0x8689 F154 Following Motion Failed; Check Motion Parameters
0x868A F156 Target Position crossed due to Stop command
0x86A0 F157 Homing Index pulse not found
44 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