AKD2G-S Installation, Safety 1 | 10 Functional Safety
10.7.2 Drive Safety Faults
More information about drive fault messages, remedy and clearing faults can be found in the
WorkBench online help.
# Description Cause Remedy
F9000 Safe torque off. Safe torque off function has been
triggered.
Reapply supply voltage to STO if safe
to do so.
F9003 Incorrect safety card
detected
Drive is configured to have a safety
module (functional safety option 2
or 3) but one is not detected.
Return hardware to manufacturer
F9004 Safe torque off pulse and
standard lines don't
match
Safe Motion Module com-
munication is not as expected
Contact Customer Support
F9005 STO Simultaneity The two STO inputs did not change
state within 100ms of each other.
Clear faults
10.7.3 Drive Safety Warnings
More information about drive warnings can be found in the WorkBench online help.
# Description Cause Remedy
W9000 Safe torque off. Safe torque off function has been
triggered.
Reapply supply voltage to STO if safe to
do so.
10.7.4 Troubleshooting safety functionality
Eliminate errors and faults in compliance with work safety rules. Troubleshooting only by
qualified and trained staff.
Problem Possible Causes Remedy causes
A group "90" safety
fault or safety warn-
ing message is vis-
ible in the drive LCD
display
Refer to the safety fault (➜ # 134) and safety warnings (➜ # 134) tables.
A fault or warning
message of another
group than "90" is vis-
ible in the drive LCD
display
Refer to the drive fault and drive warnings tables (➜ # 121) and more detailled descrip-
tionsin the WorkBench online help.
Drive does not enable 1. HW Enable configured but not wired
2. STO active
3. HW or SW Enable not set
1. connect HW Enable to the selected input
2. deactivate STO prior to HW Enable
3. apply 24V to HW Enable and select SW
Enable in WorkBench / Fieldbus
Motor does not rotate 1. STO active
2. hardware enabled not set
3. software enable not set
4. axis setup not correct
5. Fault message active
1. deactivate STO prior to HW Enable
2. apply 24V to HW Enable
3. set software enable in WorkBench / Field-
bus
4. check wiring and axis parameters
5. clear fault
134 Kollmorgen | kdn.kollmorgen.com | S101, December 2018
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