Kollmorgen AKD PDMM Parts list manual

AKD PDMM™
Fault Card
Edition: December 2012, Revision B
Valid for Hardware Revision DB
Patents Pending
Part Number 903-200015-00
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users / owners of the product.

Record of Document Revisions:
Revision Remarks
A, 04/2012 Launch version
B, 12/2012 Error E24, E53, and alarm A38 was added. A30 was revised.
IMPORTANT NOTICE
Copyright© Kollmorgen Danaher Motion Servotronix Ltd. 2012. All rights reserved.
Kollmorgen Danaher Motion Servotronix Ltd. holds the copyright to this manual. All
rights are resrved and no part of this publication may be reproduced or transmitted
in any form or by any means without prior written consent from Kollmorgen Danaher
Motion Servotronix Ltd.
Disclaimer
The information in this manual was accurate and reliable at the time of its release.
However, Kollmorgen Danaher Motion Servotronix Ltd. reserves the right to change the
specications of the product described in this manual withoutnotice at any time.
This document contains proprietary and condential information of Kollmorgen Danaher
Motion Servotronix Ltd.The contents of the document may not be disclosed to third
parties, translated, copied or duplicated in any form, in whole or in part, without the
express written permission of Kollmorgen Danaher Motion Servotronix Ltd.
Registered Trademarks
AKD is a registered trademark of Kollmorgen™ Corporation
Technical changes which improve the performance of the device may be made
without prior notice.
Printed in the United States of America
This document is the intellectual property of Kollmorgen™. All rights reserved. No part
of this work may be reproduced in any form (by photocopying, microlm or any other
method) or stored, processed, copied or distributed by electronic means without the
written permission of Kollmorgen™.
December 2012

3
Table of Contents
1. AKD Fault and Warning Messages
F0 – F121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
F123 – F136 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
F137 – F245 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
F247 – F305 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
F306 – F417 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
F418 – F478 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
F479 – F501 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
F502 – F530 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
F531 – F703 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. AKD PDMM Errors and Alarms
E01 – E20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
E21 – E35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
E36 – E52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
A01 – A40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
10
11
12

4
When a fault occurs, the drive fault relay is opened, the output stage is switched off (motor loses all torque),
or the load is dynamically braked. The specific drive behavior depends on the type of fault. The LED display on
the front panel of the drive shows the number of the fault that occurred. If a warning is issued prior to the fault,
the warning is shown on the LED and has the same number as the associated fault. Warnings do not trip the
power stage of the drive or fault relay output.
The left side of the LED displays Ffor a fault or nfor a warning. The right side displays the fault or warning
number as follows: 1-0-1-[break]. The highest priority fault is displayed on the LED, but multiple faults may be
present when a fault condition is occurring. Check the AKD Faults screen or read the status of DRV.FAULTS
through the controller or HMI for the entire list of faults.
1. AKD Fault and Warning Messages
Fault Message/Warning Cause Remedy
F0 N/A Reserved. N/A
..
1. 24V Control Power input voltage dip.
or
2. Auxillary encoder 5V (X9-9) shorted.
1. Insure adequate 24V
supply current capacity for
the system.
or
2. Check and fix X9 wiring.
F101 Firmware
incompatible. Installed firmware is not compatible with the drive hardware. Load compatible firmware into the drive.
F102 Resident firmware
failed. Software failure detected. Restart drive. If issue
persists, contact
technical support.
F103 Resident
FPGA failed.
Software failure detected. Load resident FPGA
failure occurred (several cases according to
flowchart, including incompatible image to
FPGA type and fieldbus type).
Restart drive. If issue
persists, contact
technical support.
F104 Operational FPGA
failed.
Software failure detected. Load operational
FPGA failure occurred (several cases
according to flowchart).
Restart drive. If issue
persists, contact
technical support.
F105 NV memory stamp
invalid. NV memory stamp is corrupted or invalid. Reset the drive to default
memory values using
Parameter Load.
F106 NV memory data
invalid.
NV memory data is corrupted or invalid.
This fault often occurs when downloading
firmware.
Reset the drive to default
memory values using
Parameter Load.
F107 Positive switch imit exceeded. Warning
issued prior to fault. Positive software position limit is exceeded. Move the load away from
the limits.
F108 Negative switch limit exceeded. Warning
issued prior to fault. Negative software position limit is exceeded. Move the load away from
the limits.
F121 Homing error. Drive did not finish homing sequence. Check homing sensor, homing mode, and homing
configuration.

Fault Message/Warning Cause Remedy
F123 Invalid motion task. Warning issued prior
to fault. Invalid motion task.
Check motion task settings and
parameters to make sure that
the values entered will produce
a valid motion task. Refer to the
motion task documentation for
additional guidance on specific
causes of invalid motion tasks.
F125 Synchronization lost. Warning issued prior
to fault. The fieldbus lost synchronization.
Check fieldbus connection (X5
and X6 if you are using EtherCAT;
X12 and X13 if you are using
CANopen) or the settings of your
EtherCAT or CANopen master.
F126 Too much movement. Warning issued prior
to fault.
Too much movement was created
during a Bode plot. Motor is unstable
and is not following drive instructions.
Check that the system
is closed loop stable. Refer to the
system tuning guide.
F127 Incomplete emergency
stop procedure.
Incomplete emergency stop procedure
(problem with the emergency stop
motion task).
Disconnect power from
drive and check emergency
stop procedure.
F128 MPOLES/FPOLES not
an integer. Ratio of motor poles to feedback poles must be a whole number. Change to a compatible feedback device.
F129 Heartbeat lost. Heartbeat lost. Check CANopen cabling. Reduce bus load or increase the
heartbeat update time.
F130 Secondary feedback
supply over current. 5V power supply was shorted out on X9. Check secondary feedback (X9 connection).
F131 Secondary feedback
A/B line break. Problem in secondary feedback detected. Check secondary feedback (X9 connection).
F132 Secondary feedback
A/B line break. Problem in secondary feedback detected. Check secondary feedback (X9 connection).
F134 Secondary feedback
illegal state. Feedback signals were detected in an illegal combination. Check secondary feedback (X9 connection).
F135 Homing is needed. Warning issued prior
to fault.
Attempt to issue motion task before
the axis is homed. Axis must be homed
before motion task can start. Change opmode or home axis.
F136 Firmware and FPGA versions are not
compatible.
The FPGA version does not match the
firmware FPGA version constants. Load the FPGA version that is compatible with the firmware.
5
AKD PDMM Fault Card | F123 – F136

6
Fault Message/Warning Cause Remedy
F137 Homing and feedback
mismatch
The configured homing mode is not
supported by the motor feedback
type used. Change homing mode.
F138 Instability during
autotune.
Drive current (IL.CMD) or velocity
feedback (VL.FB) exceeds allowable
limit. This fault only occurs in BODE.
MODE 5.
Change BODE.MODE if appropriate.
Otherwise the motor is not stable
and may require manual tuning.
F139
Target Position
over short due to
invalid motion task
activation.
The drive cannot decelerate 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.
F140 VBUS.HALFVOLT has
changed.
The user changed the numerical
value of VBUS.HALFVOLT. The change
only takes effect after a DRV.NVSAVE
command and after rebooting the
AKD.
Save the parameters in the non-
volatile memory with DRV.NVSAVE
and turn off/on the 24[V] power
supply in order to reboot the drive
or restore the original setting of
VBUS.HALFVOLT.
F151
–
F170
Motion task warning. Motion task settings and parameters are not set to produce a valid motion
task.
DRV.CLRFAULTS will clear the
warning. Check motion task
settings and parameters to make
sure the values will produce a valid
motion task.
F201 Internal
RAM failed. Hardware failure detected. Restart drive. If issue persists, contact technical support.
F202 External
RAM failed. Hardware failure detected. Restart drive. If issue persists, contact technical support.
F203 Code integrity failed. Software failure detected. FPGA
register access failure occurred. Restart drive. If issue persists, contact technical support.
F204
–
F232
EEPROM
failure detected. EEPROM failure detected. Restart drive. If issue persists, exchange drive.
F234
–
F237
Control temperature
sensor high. Warning
issued prior to fault.
High temperature
limit reached. Check cabinet ventilation system.
F240
–
F243
Power temperature
sensor low. Warning
issued prior to fault.
Low temperature
limit reached. Check cabinet ventilation system.
F245 External fault. This fault is user generated and is
caused by user settings.
Users can configure a digital input
to trigger this fault (DINx.MODE =
10). the fault occurs according to
this input setting. Clear the input to
clear the fault.
AKD PDMM Fault Card | F137 – F245

Fault Message/Warning Cause Remedy
F247 Bus voltage exceed
allowed thresholds. Hardware problem in bus measurement. Troubleshoot and repair hardware problem.
F248 Option board EEPROM
corrupted. EEPROM failure detected. Restart drive. If issue persists, exchange drive.
F249 Option board
downstream checksum. Communications with the I/O on the option board failed.
DRV.CLRFAULTS. If issue
persists, contact technical
support.
F250 Option board upstream
checksum. Communications with the I/O on the option board failed.
DRV.CLRFAULTS. If issue
persists, contact technical
support.
F251 Option board
watchdog. Communications with the I/O on the option board failed.
DRV.CLRFAULTS. If issue
persists, contact technical
support.
F252 Firmware and option board FPGA types are
not compatible.
The option board FPGA is not compatible
with this hardware. Download the correct firmware file for this drive.
F253 Firmware and option board FPGA versions
are not compatible
The version of the option board FPGA is
not compatible with this firmware. Download the correct firmware file for this drive.
F301 Motor overheated. Motor overheated. Check ambient temperature. Check motor mounting heat
sink capability.
F302 Over speed. Motor exceeded VL.THRESH value. Increase VL.THRESH or lower
velocity command.
F303 Motor foldback. Maximum motor power has been exceeded; the power has been limited to
protect the motor.
Current command to the
motor is too high for too
long. Reduce servo gains, or
reduce command trajectory
aggressiveness.
F304 Motor foldback. Warning issued prior
to fault.
Maximum motor power has been
exceeded; the power has been limited to
protect the motor.
Change move profile to reduce
load on motor. Check for load
jamming or sticking. Check
that current limits are set
correctly.
F305 Brake
open circuit. Motor brake open circuit. Check cabling and general functionality.
7
AKD PDMM Fault Card | F247 – F305

8
Fault Message/Warning Cause Remedy
F306 Brake
short circuit. Motor brake short circuit. Check cabling and general functionality.
F307 Brake closed during
enable state. Motor brake closed unexpectedly. Check cabling and general functionality.
F308 Voltage exceeds motor
rating. Drive bus voltage exceeds the motor’s defined voltage rating. Make sure that the motor fits the driving rating.
F309 Motor I2t load. Reduce
load.
Motor I2t load (IL.MI2T) has
exceeded the warning threshhold
IL.MI2TWTHRESH. This warningcan
only be generated in case that the
motor protection mode IL.MIMODE has
been set to 1.
Reduce the load of the Drive
by e.g. adjusting lower
acceleration/deceleration
ramps.
F401 Failed to set feedback
type. Feedback is not connected or wrong feedback type selected. Check primary feedback (X10 connection).
F402 Analog signal
amplitude fault.
Analog signal amplitude is too low.
Analog fault (resolver signal amplitude
or sin/cos amplitude).
Check primary feedback (X10
connection), resolver and sine/
cos encoder only.
F403 EnDat communication
fault. General communication problem with feedback. Check primary feedback (X10 connection), EnDat only.
F404 Hall error.
Hall sensor returns invalid Hall state
(111, 000); either all Hall sensors are on
or off. Legal Hall states are 001, 011,
010, 110, 100, and 101. This fault can
be caused by a broken connection in any
one of the Hall signals.
Check the feedback wiring;
check all feedback connectors
to ensure all pins are positioned
correctly.
F405 BiSS
watchdog fault. Bad communication with the feedback device. Check primary feedback (X10 connection), Biss only.
F406 BiSS
multicycle fault. Bad communication with the feedback device. Check primary feedback (X10 connection), Biss only.
F407 BiSS
sensor fault. Bad communication with the feedback device. Check primary feedback (X10 connection), Biss only.
F408
–
F416
SFD Feedback Fault Bad communication with the SFD
device.
Check primary feedback (X10
connection). If fault persists,
internal feedback failure.
Return to manufacturer for
repair.
F417 Broken wire in primary
feedback.
In primary feedback, a broken wire was
detected (incremental encoder signal
amplitude).
Check feedback
cable continuity.
AKD PDMM Fault Card | F306 – F417

Fault Message/Warning Cause Remedy
F418 Primary feedback
power supply. Power supply fault for primary feedback. Check primary feedback (X10 connection).
F419 Encoder init procedure
failed Phase find procedure did not complete successfully.
Check encoder wiring, reduce/
balance motor load prior to
phase finding.
F420 FB3 EnDat
Communications Fault
A communication error was detected
with the EnDat 2.2 device connected
to the X9 connector.
Check tertiary feedback (X9
connection).
F436 EnDat overheated. Endat Feedback Device is over
termperature.
Check ambient temperature.
Check motor mounting heat
sink capability.
F437 Close to limit. Drive or motor over current or over
speed warning.
Check for increased load,
jamming or sticking. Is position
error set too low?
F438 Following error (numeric) Warning issued prior to
fault.
Motor did not follow command values.
Motor exceeded maximum allowed
position following error (numeric).
Check for increased load,
jamming or sticking. Is position
error set too low?
F439 Following
error (user).
Motor did not follow command values.
Motor exceeded maximum allowed
position following error (user).
Check feedback commutation
setup and tuning parameters.
F450 Following error
(presentation).
Motor did not follow command values.
Motor exceeded maximum allowed
position following error (presentation).
Check feedback commutation
setup and tuning parameters.
F473 Wake and Shake.
Insufficient movement. There was less movement than defined by WS.DISTMIN.
Increase WS.IMAX
and/or WS.T. Or try using
WS.MODE 1 or 2.
F475 Wake and Shake.
Excess movement.
WS.DISTMAX has been exceeded in
WS.MODE 0 or more than 360 degrees
was traveled in WS.MODE 2.
Increase WS.DISTMAX value
or reduce WS.IMAX or WS.T.
Note that wake and shake
is not supported for vertical/
overhung loads.
F476 Wake and Shake. Fine-coarse delta too
large.
The angle difference between the
coarse and fine calculation was larger
than 72 deg.
Modify WS.IMAX or WS.T and
try again.
F478 Wake and Shake.
Overspeed. WS.VTHRESH was exceeded. Increase WS.VTHRESH value or reduce WS.IMAX or WS.T.
9
AKD PDMM Fault Card | F418 – F478

10
Fault Message/Warning Cause Remedy
F479 Wake and Shake. Loop
angle delta too large.
The angle between
complete loops was larger
than 72 deg. Modify WS.IMAX or WS.T and try again.
F480 Fieldbus command
velocity too high. Fieldbus command velocity exceeds VL.LIMITP Lower fieldbus command trajectory or increase the value of VL.LIMITP
F481 Fieldbus command
velocity too low. Fieldbus command velocity exceeds VL.LIMITN Increase fieldbus command trajectory or decrease the value of VL.LIMITN
F482 Commutation not
initialized.
The motor requires the
commutation initialization
(there are no encoder
commutation tracks,
Hall sensors, etc.) and
no successful Wake and
Shake sequence has been
performed.
Clear any faults, activate the Wake and
Shake procedure (WS.ARM) and enable
the drive.
F483
–
F485
Wake and Shake error.
Motor U, Motor V, or Motor
W phase missing. No
current was detected in the
phase during initialization
(Mode 0 only).
Check the motor connections and
WS.IMAX (very low current may produce
this error).
F486 Motor velocity exceeds
EMU-speed.
Motor velocity exceeds
the maximum speed the
emulated encoder output
can generate.
Reduce value of
DRV.EMUEPULSEIDTH.
F487 Wake and Shake - Validating positive
movement failed
After applying a positive
current, motor moved in the
wrong direction.
Check motor phase wiring and motor
encoder wiring is correct.
F489 Wake and Shake - Validating negative
movement failed.
After applying a negative
current, motor moved in the
wrong direction.
Check motor phase wiring and motor
encoder wiring is correct.
F490 Wake and Shake - Validating Comm.
angle timed out.
During one of the W&S
validation stages the drive
stopped responding to
commands.
Contact customer support.
F491
Wake and Shake -
Validating Comm.
angle moved too far -
Bad Comm Angle.
After applying a current,
the motor moved too far
(>15 electrical degrees).
This indicates a poor motor phase angle
was found by Wake and Shake. Revise
Wake and Shake parameters, and re-run
Wake and Shake.
F492
Wake and Shake -
Validating Comm.
angle required more
than MOTOR.ICONT.
A current larger than
MOTOR.ICONT was used to
excite the motor.
This indicates one of the following:
1. Phase angle is incorrect due to a bad
wake and shake.
2. Motor has very high friction, requiring
high current to break free.
3. Motor power cable is disconnected or
improperly wired.
F501 Bus over voltage. Bus voltage too high. Usually, this problem is load
related.
Reduce load or change motion profile.
Check system regen capacity; add capacity
if needed. Check mains voltage.
AKD PDMM Fault Card | F479 – F501