Kollmorgen AKD Parts list manual

AKD®
Fault Card
Edition: T, November 2019
Valid for Hardware Revision E
Part Number 903-200002-00
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
... For complete table of revision history see Record of Document Revisions (➜p. 30).
R, 10/2017 Added F314.
S, 11/2018 Added F587.
T, 11/2019 Added F309, F583, n583 and F634.
Trademarks
lAKD is a registered trademark of Kollmorgen Corporation
lSynqNet is a registered trademark of Motion Engineering Inc.
lEnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
lEtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation
GmbH
lEthernet/IP is a registered trademark of ODVA, Inc.
lEthernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation
lsercos®is a registered trademark of sercos®international e.V.
lHIPERFACE is a registered trademark of Max Stegmann GmbH
lPROFINET is a registered trademark of PROFIBUS and PROFINET International (PI)
lSIMATIC is a registered trademark of SIEMENS AG
lSpeedTec is a registered trademark of TE Connectivity Industrial GmbH
lWindows is a registered trademark of Microsoft Corporation
Current patents
lUS Patent 8,154,228 (Dynamic Braking For Electric Motors)
lUS Patent 8,214,063 (Auto-tune of a Control System Based on Frequency Response)
Patents referring to fieldbus functions are listed in the matching fieldbus manual.
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 repro-
duced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or dis-
tributed by electronic means without the written permission of Kollmorgen.
Kollmorgen | November 2019

AKD Fault Card | 1 Table of Contents
1 Table of Contents
1 Table of Contents 3
2 Fault and Warning Messages 4
2.1 Fault & Warning Indicators at the Device 4
2.2 Fault & Warning Details with a Connected Device 4
3 Additional fault messages AKD-T 28
4 Record of Document Revisions 30
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2 Fault and Warning Messages
When a fault occurs a specific fault reaction is executed by the drive. Depending on the fault, the reaction can
be to:
lControlled stop, which slows down any motion to zero velocity (see also CS.VTHRESH and CS.TO )
and disables the power stage.
lDisable power stage, which immediately disables the power stage (also known as coast to stop).
lDynamic brake, which slows down the motor load by shorten the motor phases.
If the drive has a fault relay, it is immediately open when a fault occurs.
2.1 Fault & Warning Indicators at the Device
For devices with two 7-segments display
The display on the front panel shows the number of the fault that occurred. If a warning is issued prior to the
fault, the warning is shown on the segment and has the same number as the associated fault.
The left 7 segment display shows “F” for a fault or “n” for a warning. The right one shows the fault or warning
number as follows: “x” [break] “y” [break] “z” [break], where xyz describes the number. The highest priority
fault is displayed. Multiple faults may be present when a fault condition is occurring.
For devices with one 7-segment display
The display on the front panel shows the number of the fault that occurred. If a warning is issued prior to the
fault, the warning is shown on the segment and has the same number as the associated fault.
The 7 segment shows the fault or warning and the number through the following sequence: “F” or “n” [break]
“x” [break] “y” [break] “z” [break], The highest priority fault is displayed. Multiple faults may be present when a
fault condition is occurring.
For devices without any display, but with a LED
A multicolor LED on the device shows if a fault or warning is occurring. Faults are indicated with a red blink-
ing. Warnings with a yellow blinking. When connected to workbench, the main screen shows the “virtual” two
segment display from the device.
2.2 Fault & Warning Details with a Connected Device
With the device connected to workbench, the main screen shows a “virtual” 7-segment display, with appro-
priate sequence for a fault / warning code. The status bar at the button of workbench shows if a warning or
fault is active. The faults and warnings screen shows the details of the actual faults as well as the fault his-
tory. In the terminal, the entire list of faults can be read by DRV.FAULTS. This command can also be used by
any external controller or HMI that is connected to the device. A similar command for warnings is
DRV.WARNINGS.
AKD Fault Card | 2 Fault and Warning Messages
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AKD Fault Card | 2 Fault and Warning Messages
Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
.. 1. 24V Control
Power input
voltage dip.
2. Auxillary encoder
5V (X9-9) shor-
ted.
1. Insure adequate
24V supply current
capacity for the sys-
tem.
2. Check and fix X9
wiring.
3. Check additional
capacity for releas-
ing the motor brake.
An increased cur-
rent consumption is
expected which
needs to be
provided by the
power supply.
N/A
F0 Reserved. N/A N/A
F101 Firmware incompatible. Installed firmware is not
compatible with the
drive hardware.
Load compatible firmware
into the drive.
Disable
power
stage
n101 The FPGA is a lab FPGA. The FPGA is a lab ver-
sion FPGA.
Load the released FPGA
version that is compatible
with the operational firm-
ware.
None
F102 Resident Firmware failed. Software failure detec-
ted.
Restart drive. If issue per-
sists, contact technical
support.
Disable
power
stage
n102 Operational FPGA is not
a default FPGA.
The FPGA minor ver-
sion is larger than the
operational firmware
default FPGA minor ver-
sion
Load the released FPGA
version that is compatible
with the operational firm-
ware.
None
F103 Resident FPGA failed. Software failure detec-
ted. Load resident
FPGA failure occurred
(several cases accord-
ing to flowchart, includ-
ing incompatible image
to FPGA type and field-
bus type).
Restart drive. If issue per-
sists, contact technical
support.
Disable
power
stage
F104 Operational FPGA failed. Software failure detec-
ted. Load operational
FPGA failure occurred
(several cases accord-
ing to flowchart).
Restart drive. If issue per-
sists, contact technical
support.
Disable
power
stage
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Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F105 NV Memory Stamp. Non-volatile memory
stamp is corrupted or
invalid.
Reset the drive to default
memory values using Para-
meter Load in WorkBench.
Disable
power
stage
F106 NV Memory Data (might
occur when downloading
firmware).
Non-volatile memory
data is corrupted or
invalid. When this fault
occurs after a firmware
download, it is not an
indication of a problem
(clear the fault and per-
form a “save” to the
drive).
Reset the drive to default
memory values using Para-
meter Load in WorkBench.
Disable
power
stage
n107 Positive limit switch
triggered.
Either a digital input is
configured as positive
limit switch (
DINx.MODE18) and its
state is “off” OR a pos-
itive software position
limit is configured
(SWLS.EN ) and the
actual position PL.FB is
greater than the con-
figured limit (see also
SWLS.LIMIT0 /
SWLS.LIMIT1 ).
Move the load away from
the limits.
Controlled
stop
n108 Negative limit switch
triggered.
Either a digital input is
configured as negative
limit switch (
DINx.MODE 19) and its
state is “off” OR a neg-
ative software position
limit is configured
(SWLS.EN ) and the
actual position PL.FB is
less than the configured
limit (see also
SWLS.LIMIT0 /
SWLS.LIMIT1 ).
Move the load away from
the limits.
Controlled
stop
F120 Failed to default para-
meters.
Drive parameters could
not be reset to default
because the drive was
enabled or, on AKD-C, a
connected AKD-N was
enabled.
Disable the drive or all con-
nected AKD-N drives and
try resetting again.
Disable
power
stage
F121 Homing Error. Drive did not finish hom-
ing sequence.
Check homing sensor,
homing mode, and homing
configuration.
Controlled
stop
AKD Fault Card | 2 Fault and Warning Messages
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AKD Fault Card | 2 Fault and Warning Messages
Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F123
n123
Invalid motion task. Invalid motion task. Check motion task settings
and parameters to make
sure that the values
entered will produce a valid
motion task.
Disable
power
stage
F124 Cogging compensation
non volatile memory data
error (CRC).
The cogging com-
pensation table saved in
non-volatile memory is
corrupted.
Configure and save your
cogging compensation
table again. If the fault per-
sists, send the drive for
repair.
Disable
power
stage
F125
n125
Fieldbus Sync frames
lost.
The fieldbus lost syn-
chronization.
Check fieldbus connection
(X5 and X6 if you are using
EtherCAT; X12 and X13 if
you are using CANopen) or
the settings of your Ether-
CAT or CANopen master.
Controlled
stop
F126
n126
Bode plot too much move-
ment.
Too much movement
was created during a
Bode plot. Motor is
unstable and is not fol-
lowing drive instruc-
tions.
Check that the system is
closed loop stable. Refer to
the system tuning guide.
Dynamic
braking
F127 Incomplete Emergency
Procedure.
Incomplete emergency
stop procedure (problem
with the emergency
stop motion task).
Disconnect power from
drive and check emergency
stop procedure.
Dynamic
braking
F128 Mpoles / Fpoles not
integer.
Ratio of motor poles to
feedback poles must be
a whole number.
Change to a compatible
feedback device.
Disable
power
stage
F129 Fieldbus Heartbeat lost. Heartbeat lost. Check CANopen cabling.
Reduce bus load or
increase the heartbeat
update time.
Controlled
stop
F130 Secondary feedback sup-
ply over current.
5V power supply was
shorted out on X9.
Check X9 connection. Disable
power
stage
F131 Secondary feedback A/B
line break.
Problem in secondary
feedback detected.
Check secondary feedback
(X9 connection).
Disable
power
stage
F132 Secondary feedback Z
line break.
Problem in secondary
feedback detected.
Check secondary feedback
(X9 connection).
Disable
power
stage
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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
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AKD Fault Card | 2 Fault and Warning Messages
Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
n140
(deprec-
ated in
1.10.2.00-
0)
VBUS.HALFVOLT has
changed. Save the para-
meters and reboot the
drive.
The user has changed
the numerical value of
VBUS.HALFVOLT.
This change only takes
effect after a
DRV.NVSAVE com-
mand and after reboot-
ing the AKD.
Save the parameters in the
non-volatile memory via a
DRV.NVSAVE command
and turn off/on the 24[V]
power supply in order to
reboot the drive or restore
the original stetting of
VBUS.HALFVOLT.
None
n151 Not enough distance to
move; motion exception.
For trapezoidal and cus-
tomer table motion
tasks: The target velo-
city specified in the
motion task cannot be
reached via using the
selected acceleration
and deceleration since
the distance to travel is
not sufficient.
For a 1:1 profile: The
selected acceleration
and deceleration will be
extended since there is
too much distance to
travel and the motion
task would exceed its
maximum allowed velo-
city.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning. Check
motion task settings and
parameters to make sure
that the values entered will
produce a valid motion
task.
None
n152 Not enough distance to
move; following motion
exception.
A new motion task activ-
ated, when one motion
task is already active
and the target position
specified in the motion
task parameters cannot
be reached with spe-
cified target velocity,
acceleration and decel-
eration parameters. The
motion task will directly
decelerate to into the tar-
get position or ramps
down to velocity 0 and
start another move to
reach target position of
the next motion task.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning. Check
motion task settings and
parameters to make sure
that the values entered will
produce a valid motion
task.
None
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Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
n153 Velocity limit violation,
exceeding max limit.
A new target velocity
calculated internally due
to an exception, and is
being limited due to user
velocity limit.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning. Check
motion task target velocity
settings and parameters to
make sure that the values
entered will not exceed the
VL.LIMITP and VL.LIMITN
setting.
None
n154 Following motion failed;
check motion para-
meters.
Activation of the fol-
lowing motion task
failed due to incom-
patible parameters, or
motion task does not
exist.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning. Check
following motion task set-
tings and parameters to
make sure that the values
entered will produce a valid
motion task.
None
n156 Target position crossed
due to stop command.
The motion task
crosses the target pos-
ition after triggering a
DRV.STOP command.
This situation can hap-
pen when processing a
change-on-the-fly
motion task and trig-
gering a DRV.STOP
command close to the
target position of the cur-
rently running motion
task.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning.
None
n157 Homing index pulse not
found.
A homing mode with
index detection is activ-
ated, and index pulse is
not detected while mov-
ing across the range
determined by the hard-
ware limit switches.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning.
None
n158 Homing reference switch
not found.
A homing mode with ref-
erence switch detection
is activated and the ref-
erence switch is not
detected while moving
across the range determ-
ined by the hardware
limit switches.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning.
None
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AKD Fault Card | 2 Fault and Warning Messages
Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
n159 Failed to set motion task
parameters
Invalid motion task para-
meters assignment.
This warning can appear
upon an MT.SET com-
mand.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning. Check
motion task settings and
parameters.
None
n160 Motion task activation
failed.
Activation of the motion
task failed due to incom-
patible parameters, or
motion task does not
exist. This warning can
appear upon an
MT.MOVE command.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning. Check
motion task settings and
parameters to make sure
that the values entered will
produce a valid motion
task.
None
n161 Homing procedure failed. Homing error observed
during the operation of
homing procedure.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning.
None
n163 MT.NUM exceeds limit. This warning appears
with n160. This warning
is triggered when you try
to trigger a motion task
> 128 (such as
MT.MOVE 130).
Trigger only motion tasks
between 0 and 128. Activ-
ation of any new motion or
using of
DRV.CLRFAULTS will
clear the warning.
None
n164 Motion task is not ini-
tialized.
This warning appears
with n160. This warning
is triggered when you try
to trigger a non-ini-
tialized motion task.
Initialize the motion task
first before starting the
task. Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning.
None
n165 Motion task target pos-
ition is out.
This warning appears
with n160. This warning
is triggered when you try
to trigger a motion task
with an absolute target
position outside of the
selected modulo range
(see also MT.CNTL).
Move the absolute target
position of the motion task
within the modulo
range.Activation of any
new motion or using of
DRV.CLRFAULTS will
clear the warning.
None
n168 Invalid bit combination in
the motion task control
word.
This warning appears
with n160. This warning
is triggered when you try
to trigger a motion task
with an invalid bit com-
bination in the motion
task control word (see
also MT.CNTL).
Correct the MT.CNTL set-
ting for the specific motion
task. Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning.
None
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Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
n169 1:1 profile cannot be
triggered on the fly.
This warning appears
with n160. This warning
is triggered when you try
to trigger a 1:1 profile
table motion task while
another motion task is
currently running.
1:1 profile table motion
tasks should be started
from velocity 0. Activation
of any new motion or using
of DRV.CLRFAULTS will
clear the warning.
None
n170 Customer profile table is
not initialized.
This warning appears
with n160. This warning
is triggered when you try
to trigger a motion task
that uses a customer
profile table for gen-
erating the velocity pro-
file and when the
selected profile table is
empty (see MT.CNTL
and MT.TNUM.
Change the MT.TNUM
parameter for this specific
motion task in order to use
an initialized profile table.
Activation of any new
motion or using of
DRV.CLRFAULTS will
clear the warning.
None
n179 Teaching of Cogging com-
pensation stopped before
finishing.
The cogging com-
pensation teach move
could not be completed.
Some common causes
are limit switches,
mechanical blockage or
the drive being disabled
due to a fault.
Make sure your motor is
able to move the distance
required by the cogging
compensation teach move
and start the move again.
N/A
n180 Cogging compensation
not active. Axis needs to
be homed first.
Using a non-absolute
feedback a homing pro-
cedure is needed before
cogging compensation
can be applied.
Execute a homing pro-
cedure or deactivate cog-
ging compensation.
N/A
F201 Internal RAM failed. Hardware failure detec-
ted.
Restart drive. If issue per-
sists, contact technical
support.
Disable
power
stage
F202 External RAM failed. Hardware failure detec-
ted.
Restart drive. If issue per-
sists, contact technical
support.
Disable
power
stage
F203 Code Integrity failed. Software failure detec-
ted. FPGA register
access failure occurred.
Restart drive. If issue per-
sists, contact technical
support.
Disable
power
stage
F204-
F232
EEPROM failure detec-
ted
EEPROM failure detec-
ted
Restart drive. If issue per-
sists, exchange drive.
Disable
power
stage
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AKD Fault Card | 2 Fault and Warning Messages
Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F234-
F237
n234-
n237
Temperature sensor high. High temperature limit
reached.
Check cabinet ventilation
system.
Disable
power
stage
F240-
F243
n240-
n243
Temperature sensor low. Low temperature limit
reached.
Check cabinet ventilation
system.
Disable
power
stage
F245 External Fault. This fault is user gen-
erated 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.
Disable
power
stage
F247 Vbus read is out of
thresholds.
Hardware problem in
bus measurement.
Troubleshoot and repair
hardware problem.
Disable
power
stage
F248 Option board EEPROM
corrupted.
EEPROM failure detec-
ted.
Restart drive. If issue per-
sists, exchange drive.
Disable
power
stage
F249 Option board downstream
checksum.
Communications with
the I/O on the option
board failed.
DRV.CLRFAULTS. If
issue persists If issue per-
sists, contact technical
support.
Disable
power
stage
F250 Option board upstream
checksum.
Communications with
the I/O on the option
board failed.
DRV.CLRFAULTS. If
issue persists If issue per-
sists, contact technical
support.
Disable
power
stage
F251 Option board watchdog. Communications with
the I/O on the option
board failed.
DRV.CLRFAULTS. If
issue persists If issue per-
sists, contact technical
support.
Disable
power
stage
F252 Firmware and option
board FPGA types are
not compatible.
The option board FPGA
is not compatible with
this hardware.
Download the correct firm-
ware file for this drive.
Disable
power
stage
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 firm-
ware file for this drive.
Disable
power
stage
F256 Analog Input over voltage The analog input value
is above the
AIN.OVFTHRESH
level.
Check the analog input sig-
nal or change the
AIN.OVFTHRESH value.
Controlled
stop
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Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F257 Analog Input under
voltage
The analog input value
is below the
AIN.UVFTHRESH
level.
Check the analog input sig-
nal or change the
AIN.UVFTHRESH value.
Controlled
stop
n256 Warning: Analog Input
over voltage
The analog input value
is above the
AIN.OVWTHRESH
level.
Check the analog input sig-
nal or change the
AIN.OVWTHRESH value.
None
n257 Warning: Analog Input
under voltage
The analog input value
is below the
AIN.UVWTHRESH
level.
Check the analog input sig-
nal or change the
AIN.UVWTHRESH value.
None
F301
n301
Motor overheated. Motor overheated. Check ambient tem-
perature. Check motor
mounting heat sink cap-
ability
Disable
power
stage
F302 Over speed. Motor exceeded
VL.THRESH value.
Increase VL.THRESH or
lower velocity command.
Dynamic
braking
F303 Run away. Motor did not follow
command values.
Current command to the
motor is too high for too
long. Reduce servo gains,
or reduce command tra-
jectory aggressiveness.
Controlled
stop
F304
n304
Motor Foldback. Maximum motor power
has been exceeded; the
power has been limited
to protect the motor
Motion is requiring too
much power. Change move
profile to reduce load on
motor. Check for load jam-
ming or sticking. Check
that current limits are set
correctly.
Controlled
stop
F305 Brake open circuit. Motor brake open cir-
cuit. Fault threshold is
200 mA.
Check cabling and general
functionality. For special
low current brake applic-
ations, the F305 fault can
be bypassed using the set-
ting motor.brake = 100.
Dynamic
braking
F306 Brake short circuit. Motor brake short cir-
cuit.
Check cabling and general
functionality. Check that
MOTOR.TBRAKERLS
and
MOTOR.TBRAKEAPP
are configured.
Dynamic
braking
F307 Brake applied during
Enable-State.
Motor brake closed
unexpectedly.
Check cabling and general
functionality.
Dynamic
braking
AKD Fault Card | 2 Fault and Warning Messages
Kollmorgen | kdn.kollmorgen.com | November 2019 14

AKD Fault Card | 2 Fault and Warning Messages
Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F308 Voltage exceeds motors
rating.
Drive bus voltage
exceeds the motor’s
defined voltage rating.
Make sure that the motor
fits the driving rating.
Disable
power
stage
F309 Motor I2t load over fault
threshold.
Motor I2t load (IL.MI2T)
has exceeded the fault
threshold
IL.MI2TFTHRESH.
This fault can only be
generated in the case
that the motor protection
mode IL.MIMODE has
been set to 1.
Reduce the load of the
drive e.g. by adjusting
acceleration / deceleration
ramps.
Disable
power
stage
n309 Motor I2t load. reduce
load
Motor I2t load (IL.MI2T)
has exceeded the warn-
ing threshold
IL.MI2TWTHRESH.Th-
is warning can only be
generated in the case
that the motor protection
mode IL.MIMODEhas
been set to 1.
Reduce the load of the
drive by adjusting lower
acceleration / deceleration
ramps.
None
F312 Brake released when it
should be applied.
Brake disengaged unex-
pectedly.
Check cabling and general
functionality.
Controlled
stop
F314 Motor phase loss detec-
ted.
One or multiple motor
lines are not properly
connected.
Check the motor con-
nector/wiring on the AKD.
Disable
power
stage
F401 Failed to set feedback
type.
Feedback is not con-
nected or wrong feed-
back type selected
Check primary feedback
(X10 connection).
Dynamic
braking
F402 Analog signal amplitude
fault.
Analog signal amplitude
is too low or too high.
Applicable to all feed-
back types with sin/cos
lines (including
Resolver, Endat 2.1,
pure Sin/Cos ect.).
Check primary feedback
(X10 connection), resolver
and sine/cos encoder only.
Dynamic
braking
F403 EnDat communication
fault.
General communication
problem with feedback.
Check primary feedback
(X10 connection), EnDat
only. If feedback is linear,
check calibration.
Dynamic
braking
15 Kollmorgen | kdn.kollmorgen.com | November 2019

Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F404 Illegal Hall state (111,
000).
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 con-
nectors to ensure all pins
are positioned correctly.
Dynamic
braking
F405 BiSS watchdog fault. Bad communication
with the feedback
device.
Check primary feedback
(X10 connection), Biss
only.
Dynamic
braking
F406 BiSS multi cycle fault.
F407 BiSS sensor fault.
F408-
F416
SFD feedback fault. Bad communication
with the SFD device.
Check primary feedback
(X10 connection).If fault
persists, internal feedback
failure. Return to man-
ufacturer for repair.
Dynamic
braking
F417 Broken wire in primary
feedback.
In primary feedback, a
broken wire was detec-
ted (incremental
encoder signal amp-
litude).
Check feedback cable con-
tinuity.
Dynamic
braking
F418 Primary feedback power
supply.
Power supply fault for
primary feedback.
Check primary feedback
(X10 connection).
Dynamic
braking
F419 Encoder init procedure
failed.
Phase find procedure
did not complete suc-
cessfully.
Check encoder wiring,
reduce/balance motor load
prior to phase finding.
Disable
power
stage
F420 FB3 Endat com-
munication fault.
A communication error
was detected with the
EnDat 2.2 device con-
nected to the X9 con-
nector.
Check pinout and FB3 con-
figuration and reconnect
feedback. If problems per-
sist, contact customer sup-
port.
Dynamic
braking
F421 SFD resolver sensor
fault.
Sensor or sensor wiring
failure inside motor.
Try resetting the fault. If it
reappears return motor for
repair.
Dynamic
braking
F423 NV Failure – Extended
Multiturn.
The position saved in
memory is corrupted.
Home axis or disable exten-
ded multiturn. If the fault
persists, send the drive for
repair.
Disable
power
stage
AKD Fault Card | 2 Fault and Warning Messages
Kollmorgen | kdn.kollmorgen.com | November 2019 16

AKD Fault Card | 2 Fault and Warning Messages
Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F438
n438
Deviation from predicted
trajectory fault.
Motor did not follow
command values. Motor
exceeded maximum
allowed position fol-
lowing error (numeric).
Check for increased load,
jamming or sticking. Is pos-
ition error set too low?
Controlled
stop
F439
n439
Following error magnitude
fault.
Motor did not follow
command values. Motor
exceeded maximum
allowed position fol-
lowing error (user).
Check feedback com-
mutation setup and tuning
parameters.
Controlled
stop
F450 Following error present-
ation.
Motor did not follow
command values. Motor
exceeded maximum
allowed position fol-
lowing error (present-
ation).
Check feedback com-
mutation setup and tuning
parameters.
Controlled
stop
F451
n451
Feedback battery fault. The external battery
voltage is too low. The
F451 fault is generated
if the AKD is not
powered. The n451
warning is generated if
the AKD is powered.
This fault can be inhib-
ited with
FAULT451.ACTION.
Check or replace the
external battery.
Dynamic
braking
F452 Extended Multiturn not
supported with this feed-
back.
Non-multiturn feedback
is connected while
FB1.PMTSAVEEN is
active.
Connect multiturn feed-
back to the drive or disable
extended multiturn.
Disable
power
stage
17 Kollmorgen | kdn.kollmorgen.com | November 2019

Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F453 Tamagawa com-
munication fault
(timeout).
Bad communication
with the feedback
device. Cabling or
shielding fault, or
internal feedback fail-
ure.
Check the cabling to the
drive and if the problem per-
sists then return the feed-
back to the manufacturer
for repair.
Dynamic
braking
F454 Tamagawa com-
munication fault (transfer
incomplete).
F456 Tamagawa com-
munication fault (CRC).
F457 Tamagawa com-
munication fault (start
timeout).
F458 Tamagawa com-
munication fault (UART
Overrun).
F459 Tamagawa com-
munication fault (UART
Framing).
F460 Tamagawa encoder fault
(over speed).
This fault is generated
when the shaft is
rotated above a max-
imum speed that can be
maintained while the
external battery is
powered and the drive is
powered off.
Reset the fault on the drive
with DRV.CLRFAULTS.
Dynamic
braking
F461 Tamagawa encoder fault
(counting Error).
When the feedback is
powered on the position
(within one revolution)
was incorrect because
of a problem with the
feedback device.
Reset the fault on the drive
with DRV.CLRFAULTS, if
the problem persists then
clean the feedback code
plate.
Dynamic
braking
F462 Tamagawa encoder fault
(counting overflow).
Multi-turn counter has
overflowed.
Reset the fault on the drive
with DRV.CLRFAULTS.
Dynamic
braking
F463 Feedback overheat fault. The temperature of the
encoder substrate
exceeds overheating
detection temperature
during main power-on.
Reset the fault on the drive
with DRV.CLRFAULTS
after temperature of
encoder is lowered.
Dynamic
braking
F464 Tamagawa encoder fault
(multi-turn error).
Any bit-jump occurs in
the multi-turn signal dur-
ing main power-on.
Return to the origin. Reset
the fault on the drive with
DRV.CLRFAULTS.
Dynamic
braking
AKD Fault Card | 2 Fault and Warning Messages
Kollmorgen | kdn.kollmorgen.com | November 2019 18

AKD Fault Card | 2 Fault and Warning Messages
Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F465 Excessive shock detec-
ted by feedback device.
1. Excessive shock
from an impact or vibra-
tion has caused an error
in the feddback device.
or
2. Internal error in the
feedback device mech-
anism, resulted in bad
position data.
1. Reduce external impacts
to the motor housing and
shaft. Tune the control
loops filters. Reduce gains,
particularly feed forward
gains. Reduce maximum
commanded acceleration.
or
2. Replace the feedback
device.
Dynamic
braking
F467 Feedback fault on feed-
back 1 (See
FB1.FAULTS for details).
The feedback device
malfunctioned.
Check FB1.FAULTSfor
detailed fault information. If
using a BiSS feedback
device, fault 467 indicates
a communications fault
with the BiSS feedback
device. No additional
information is available via
FB1.FAULTS for this fault
when using a BiSS feed-
back device.
Dynamic
braking
F469 FB1.ENCRES is not
power of two, Remote
Commutation not pos-
sible.
Feedback Type 43
requires that the feed-
back resolution be a
power of two. Feedback
Type 43 is not sup-
ported for all feedback
resolutions.
If the remote feedback
device's resolution is a
power of two, enter that
value in FB1.ENCRES.
Otherwise, choose a feed-
back device with a sup-
ported resolution (power of
two) and enter that value in
FB1.ENCRES.
Dynamic
braking
F470 Feedback fault on feed-
back 3.
Feedback is not con-
nected or general com-
munication problem.
Check tertiary feedback
(X9 connection)
Dynamic
braking
F471 Operation in Position
Mode with Halls Only
feedback not allowed.
Operation in Position
Mode with Halls Only
feedback not allowed.
Set your drive’s mode of
operation to velocity or
torque when using a Halls
Only feedback.
Dynamic
braking
F473 Wake and Shake - Insuf-
ficient movement
There was less move-
ment than defined by
WS.DISTMIN.
Increase WS.IMAX and/or
WS.T. Or try using
WS.MODE1 or 2.
Disable
power
stage
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. Wake and Shake
is not suported for ver-
tical/overhung loads.
Disable
power
stage
19 Kollmorgen | kdn.kollmorgen.com | November 2019

Fault
(“F”)
Warning
(“n”)
Message/Warning Cause Remedy Drive
Respons-
e to Fault
F476 Wake and Shake - Fine-
Coarse delta too large.
The angle difference
between the coarse and
fine calculation was lar-
ger than 72 deg.
Modify WS.IMAX or WS.T
and try again.
Disable
power
stage
F478
n478
Wake and Shake - Over
speed
WS.VTHRESH was
exceeded.
Increase WS.VTHRESH
value or reduce WS.IMAX
or WS.T.
Disable
power
stage
F479
n479
Wake and Shake - Loop
angle delta too large.
The angle between com-
plete loops was larger
than 72 deg.
Modify WS.IMAX or WS.T
and try again.
Disable
power
stage
F480 Field bus command velo-
city too high.
Fieldbus command velo-
city exceeds
VL.LIMITP.
Lower fieldbus command
trajectory, or increase the
value of VL.LIMITP.
Disable
power
stage
F481 Field bus command velo-
city too low.
Fieldbus command velo-
city exceeds
VL.LIMITN.
Increase fieldbus com-
mand trajectory, or
decrease the value of
VL.LIMITN.
Disable
power
stage
F482 Wake and Shake - Com-
mutation not initialized.
The motor requires the
commutation ini-
tialization (there are no
encoder commutation
tracks, Hall sensors,
etc.) and no successful
Wake and Shake
sequence has been per-
formed
Clear any faults, activate
the Wake and Shake pro-
cedure (WS.ARM) and
enable the drive.
Disable
power
stage
F483 Wake and Shake - Motor
U phase missing.
No current was detec-
ted in the motor's U
phase during Wake and
Shake initialization
(Mode 0 only).
Check the motor con-
nections and WS.IMAX
(very low current may pro-
duce this error).
Disable
power
stage
F484 Wake and Shake - Motor
V phase missing.
No current was detec-
ted in the motor's V
phase during Wake and
Shake initialization
(Mode 0 only).
Check the motor con-
nections and WS.IMAX
(very low current may pro-
duce this error).
Disable
power
stage
F485 Wake and Shake - Motor
W phase missing.
No current was detec-
ted in the motor's W
phase during Wake and
Shake initialization
(Mode 0 only).
Check the motor con-
nections and WS.IMAX
(very low current may pro-
duce this error).
Disable
power
stage
F486 Input change rate
exceeds maximum speed
of emulated encoder.
Motor velocity exceeds
the maximum speed the
emulated encoder out-
put can generate.
Reduce value of
DRV.EMUEPULSEWIDT-
H.
Controlled
stop
AKD Fault Card | 2 Fault and Warning Messages
Kollmorgen | kdn.kollmorgen.com | November 2019 20