F2005 Detailed Troubleshooting Steps

Description

Fault 2004 occurs when the current feedback offset calculation for motor phase UV is too high or too volatile. The fault occurs under either of the following conditions.:

  • The calculated offset exceeds 15% of the axis peak current (AXIS#.IPEAK ).
  • The difference between consecutive calculations exceeds 2% of the axis peak current.
Details about the fault
The current offset calculation provides a compensation for small noise bias in the current sensor. The fault check ensures the integrity of the sensor and detects unexpected current flow in the axis.
The offset calculation runs whenever the axis is disabled and the measured velocity is below 5 rpm. When these conditions are met, there should be no axis current, and any measured current should represent sensor bias.
The offset calculation averages current feedback measurements over 250 msec. This average is the value that is checked against the fault conditions.

Clearing the fault resets the current offset compensation.The calculation is set to zero in order to detect the fault and the offset applied to the current feedback (the phase UV component of AXIS#.IL.FB ) is also set to zero.

Troubleshooting Steps

Fault 2004 typically indicates an electrical or wiring problem. These steps can help isolate and characterize the problem.

  1. Clear the fault (AXIS#.CLRFAULTS ). Check whether the fault occurs again to determine whether the condition is persistent.
  2. Power cycle the drive. Check whether the fault occurs again to determine whether the condition is persistent.
  3. Verify that the motor is not spinning. If the motor is spinning when the fault occurs, check that the axis feedback configuration (AXIS#.IL.FBSOURCE, AXIS#.VL.FBSOURCE , FB#.SELECT) is correct.
  4. Disconnect the motor cable from the axis.
    • There is likely an electrical or sensor problem in the drive if the fault occurs with the cable disconnected.
    • There is likely a problem with the cable, motor, or other external component if the fault goes away when the cable is disconnected.

If the fault persists, please contact Kollmorgen support.

Versions

Action Version Notes
Implemented 02-00-00-000 Initial firmware version reports the fault
Bug fix 02-05-00-000 The bug prevented the fault from being reported under some conditions. Instead, the drive reported an error status when enabling the axis.

General Information

Type

Power

Reaction

Disable axis

Clearable

Yes

Variants Supported

Supported on all device types.

Related Topics

Faults and Warnings View

F2004 Detailed Troubleshooting Steps

F2005 Detailed Troubleshooting Steps