Faults and Warning Messages

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4#

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55

60

70

F1000

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.

F1001

Power Board type mismatch detected.

Power board image does not match what operational firmware expected.

Contact Kollmorgen Customer Support to update the drive.

F1002

Power Board Communication fault

Communications with the Power Board failed.

Issue AXIS#.CLRFAULTS.

If issue persists, contact Technical Support.

F1003

Power Board FPGA not configured.

Communications with the Power Board failed.

Issue AXIS#.CLRFAULTS.

If issue persists, contact Technical Support.

F1004

Failed to initialize the system.

Failure in primary module during software start-up.

Contact Kollmorgen Customer Support.

F1005

Unrecognized FPGA fault.

Failure within the FPGA Module.

FPGA reported unrecognized fault.

Issue AXIS#.CLRFAULTS.

If the problem persists, contact Kollmorgen Customer Support.

F1006

FPGA cyclic read fault.

Detected a timing issue between the firmware and FPGA.

• Power cycle the drive.
• If the fault occurs again, contact Kollmorgen Customer Support.

F1007

A Factory MechaWare model failed to load.

Failed to read the control loop model from flash.

• Power cycle the drive.
• If the fault occurs again, contact Kollmorgen Customer Support.

F1008

A User MechaWare model failed to load.

Failed to read the user control loop model file from flash.

• Power cycle the drive.
• If the fault occurs again, contact Kollmorgen Customer Support.

F1009

Axis internal.

The firmware detected it was in an unexpected condition.

• Issue AXIS#.CLRFAULTS.
• If the problem persists, contact Kollmorgen Customer Support.

F1010

Controlled stop failed

The deceleration ramp of a controlled stop could not be started.

The axis immediately disabled instead.

• Issue AXIS#.CLRFAULTS.
• If the problem persists, contact Kollmorgen Customer Support.

F1011

Drive in Fallback after Crash

The drive has rebooted into Fallback firmware after a crash.

Contact Kollmorgen Customer Support.

F1100

NV Memory Data (might occur when downloading firmware)

Inconsistency between the non-volatile (NV) parameter definitions and the parameter data stored in NV memory.

The fault occurs on startup after downloading firmware. It may happen when upgrading or downgrading firmware versions.

1. Compare NV parameters between the original and downloaded versions.
2. Reapply parameter settings that changed.
3. Save NV parameters.
4. Power cycle the drive.

F1101

Flash directory error

File system in unexpected state.

• Update to the latest firmware.
• If the problem persists, contact Kollmorgen Customer Support.

F1102

Identity Read failed

EDS information on the drive is not in expected format.

Contact Kollmorgen Customer Support.

F1103

Invalid MAC Address

The MAC Address stored in the EDS on the drive is invalid.

Contact Kollmorgen Customer Support.

F1104

Power Board factory settings file read failed.

Power Board settings unable to be retrieved.

Contact Kollmorgen Customer Support.

F1105

Power Board update settings file read failed.

Power Board settings unable to be loaded.

Contact Kollmorgen Customer Support.

F1106

Failure reading Control Board FPGA EDS file.

Control Board configuration settings unable to be loaded.

Contact Kollmorgen Customer Support.

F1107

Power Board Resident FPGA not valid.

Power Board Resident FPGA not valid.

• Update to the latest firmware.
• If the problem persists, contact Kollmorgen Customer Support.

F1108

Power Board Operational FPGA not valid.

Power Board Operational FPGA not valid.

• Update to the latest firmware.
• If the problem persists, contact Kollmorgen Customer Support.

F1109

Failure reading Power Board FPGA EDS.

Failure reading Power Board FPGA EDS.

Contact Kollmorgen Customer Support.

F2000

Vbus read is out of thresholds.

Hardware problem in bus measurement.

Troubleshoot and repair hardware problem.

F2001

Drive Foldback

Maximum drive power has been exceeded.

The power has been limited to protect the drive.

Motion requires too much power.

Change profile to reduce load.

See AXIS#.IL​.FOLDFTHRESHU for more information.

F2002

Output over current

Current exceeds drive peak.

Check for short or feedback faults.

F2003

Current sensor short circuit

1. Current sensor short circuit
2. Motor cable plugged in upside down (AKD1G only)

F2003 indicates excessive peak motor load current detected by the current sensor A/D's.

Potential causes of this error are:

• Short or partial short in drive to motor cabling.

• Short or partial short in the motor.

• Improper setup of current loop parameters.

• Motor inductance well lower than drive rated minimum.

• Damaged drive.

1. Restart drive.
   If issue persists, contact Kollmorgen Technical Support.
2. Plug in cable right-side up.

To determine the possible cause, unplug the motor power wires at the drive and enable the drive axis.

• If F2003 does not happen, then suspect one of the first two causes (a short).
• If you get F2003 with open circuited drive power wires, then the drive is damaged and needs to be returned for repair.

F2004

Iu current offset fault

Hardware failure detected.

F2004 Detailed Troubleshooting Steps

F2005

Iv current offset fault

Hardware failure detected.

F2005 Detailed Troubleshooting Steps

F2006

Bus over voltage

Bus voltage too high.

Usually this problem is load related.

• Reduce load or change motion profile.
• Check system regen capacity and add capacity, if needed.
• Check the mains voltage.

F2007

Bus under voltage. Warning issued prior to fault.

Either:

• Bus voltage below VBUS.UVFTHRESH and the axis was enabled.
• Bus voltage was below VBUS.INRUSHOFF and the axis was enabled.

F2008

Bus capacitor overloaded.

Single phase AC input on a drive only rated for three-phase input or excessive single-phase power load.

F2009

Regen near capacity, could not prevent over voltage.

An F2006 Bus Over Voltage has occurred while the regen resistor was at or above 75% of its dissipation capacity.

Increase the size of regen resistor to be able to dissipate more power.

F2010

Regen over power.

Too much power stored in regen resistor.

Get a larger regen resistor or use DC bus sharing to dissipate power.

F2011

Voltage exceeds motor's rating.

Drive bus voltage exceeds the motor’s defined voltage rating.

Make sure that the motor fits the driving rating.

F2012

Power Stage fault.

Power Stage fault.

• Clear the faults.
• If the problem persists, contact Kollmorgen Customer Support.

F2013

Regen short circuit.

Regen resistor short circuit.

• Regen IGBT short circuit.
• Contact Kollmorgen Technical Support.

F2014

AC input phase loss.

Phase loss was detected on three phase AC mains while the drive was enabled.

F2014 Detailed Troubleshooting Steps

F2015

Bus over voltage FPGA.

Bus over voltage hard fault.

• Check the mains voltage.
• Check system brake capacity.

F2016

Gate supply under voltage.

Gate Supply under voltage.

• Check the wiring.
• If the problem persists, contact Kollmorgen Customer Support.

F2017

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 jamming or sticking.
• Check that current limits are set correctly.

• See AXIS#.IL​.FOLDFTHRESHU for more information.

F2018

Broken wire connection to motor.

• At least one of the motor phases are not connected to the drive.
• For this fault detection to properly work, motor parameters must be set correctly.

• Fix wire connections to the motor.
• If motor parameters are not set automatically, check motor parameters.
• Change AXISx.FAULT2018.ACTION to 1 to ignore this condition.

F2019

AC input power loss

Power loss was detected on AC mains while the drive was enabled.

• Check the mains input.
• If using DC mains, set VBUS.DCOPERATION to 1.

F2020

Initial DC bus above regen threshold.

An attempt to enable the axis fails due to the DC bus voltage being charged to a steady state voltage greater than the operating threshold of the regen circuits.

F2020 Detailed Troubleshooting Steps

F2500

Control over temperature

High temperature limit measured on control circuit.

• Check the cabinet ventilation system and ambient temperature.
• Check the fan operation.
• Check DRV.TEMP to determine whether the temperature measurement is unreasonable or stuck at a high value.

F2501

Power board over temperature

High temperature limit measured on power board circuit.

• Check the cabinet ventilation system and ambient temperature.
• Check the fan operation.
• Check AXIS1.TEMP and AXIS2,TEMP to determine whether the temperature measurement is unreasonable or stuck at a high value.
• See AXIS#.TEMP.

F2502

Control under temperature sensor

Low temperature limit reached.

• Check the cabinet ventilation system and ambient temperature.
• Check the fan operation.
• Check DRV.TEMP to determine whether the temperature measurement is unreasonable or stuck at a high value.

F2503

Power board under temperature

Low temperature limit measured on control circuit.

Check the cabinet ventilation system.

F2504

Regen over temperature.

High temperature limit measured on regen circuit.

• Check the cabinet ventilation system and ambient temperature.
• Check the fan operation.
• Investigate motion that could cause regen circuit to remove power from high DC bus for an extended time.

F2505

Regen under temperature.

Low temperature limit measured on regen circuit.

Check the cabinet ventilation system and ambient temperature.

F3000

Issued command timed out.

Processing a command took longer than the command timeout (10-60 sec depending on the command).

Try reducing the CPU load of the drive by deactivating unused features or changing the fieldbus cycle time.

F3001

Failed to default parameters.

Drive parameters could not be reset to default because an axis was enabled.

Disable all axes.

F3002

Internal firmware error.

A problem with an internal calculation or data check is preventing the drive from operating correctly.

1. Reboot the drive.
2. Contact Kollmorgen Customer Support.

F3004

Operation in Position Mode with Halls Only feedback not allowed.

Operation in Position Mode with Halls Only feedback not allowed.

Set the drive’s mode of operation to velocity or torque when using a Halls Only feedback.

F3005

Thread watchdog

Unresponsive firmware thread.

• Clear the faults.
• If the problem persists, contact Kollmorgen Customer Support.

F3006

Action Table fault

This fault is triggered by an action in the action table (when Task = “24 – Fault Axis”).

• Investigate the condition that caused fault to trigger.
• To disable, deactivate the action task that is set to trigger this fault.

F3008

16kHz loop timing above threshold.

The 16kHz loop took longer than 75% of the total period to complete, likely meaning the drive processor is overloaded. See DRV.CPUPERCENT to monitor processor load.

• Disable user MechaWare models.
• Clear the action table to reduce the processor load, or change DRV.FAULT3008.ACTION to 1 to ignore this condition.

• 
  
• Ignoring this fault may cause non-prioritized features like WorkBench communications to sporadically not work.

F3100

MechaWare Model contains a block with invalid configuration.

One or more MechaWare Model blocks exists with an invalid configuration.

See MW.FAULTS for verbose output regarding the exact block configuration(s) that are invalid and how to resolve them.

F3101

MechaWare Model was made with an unsupported library.

The version of a MechaWare model loaded is incompatible with the version of drive firmware installed.

See MW.FAULTS for verbose output regarding the specific version incompatibility and how to resolve.

F3102

MechaWare Models are missing Motor Torque block.

Across all active MechaWare models, there is no Torque Output for all axes.

1. Verify models are turned on.
2. If using User Models, check that models contain a Motor Torque block and the axis number is correct.

F3500

EEO Faulted.

EEO is not working due to an error [EEO#.STATUS is 11 (Faulted)].

• If the Output - Encoder Emulation is using an SFA, make sure the SFA is connected correctly.
• If the axis is not supposed to be faulted when the EEO is not working, change the configuration in EEO#.FAULTAXIS.
  
• See Feedback Connector X41 (SFA, accessory)

F4x00

Feedback Parity fault.

Feedback Parity fault.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x01

Feedback Overrun fault.

Feedback Overrun fault.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x02

Feedback Framing fault.

Feedback Framing fault.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x03

Feedback CRC fault.

Feedback CRC fault.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x04

Feedback Communication Timeout fault.

Feedback Communication Timeout fault.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x05

Feedback Initialization Sequence fault.

Feedback Initialization Sequence fault.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x06

Feedback Temperature fault.

Feedback Temperature fault.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x07

Feedback Battery fault.

Feedback battery fault.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x08

Feedback Sensor fault.

Feedback Sensor fault.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x09

Feedback Unique Fault 0.

Feedback Device-Unique Fault 0.

F4x09 Detailed Troubleshooting Steps

F4x10

Feedback Device -Unique Fault 1.

Feedback Device-Unique Fault 1.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x11

Feedback Analog Signal fault.

Feedback Analog Signal fault.

• Check the feedback settings.
• If the problem persists, contact Kollmorgen Customer Support.

F4x12

Feedback Broken Wire fault.

Feedback broken wire.

Check the feedback wiring.

F4x13

Feedback Power Supply fault.

Feedback power supply fault.

Check the feedback wiring.

F4x14

Feedback, Illegal Hall State (111 or 000).

Feedback, Illegal Hall State (111 or 000)

Check Hall wiring.

F4x15

Failed to set feedback type.

Failed to set feedback type.

Check feedback settings and wiring.

F4x16

Failed to read motor parameters from feedback device.

Motor does not have motor feedback memory or the motor feedback memory is not programmed properly so the parameters cannot be read.

• Try to read parameters again by clicking the Disable and Clear Faults button or by issuing the AXIS#.CLRFAULTS command.
• If this is not successful, then set AXIS#.MOTOR.AUTOSET to 0 (off) and program the parameters using the setup wizard or manually set up the parameters.
• If the motor has motor memory ((missing or bad snippet) Analog, (missing or bad snippet), and SFD motors have motor memory), return the motor to have the memory programmed.

F4x17

SFA communication fault.

Communication error between the SFA and the drive.

Check cabling between the SFA and the drive.

F4x18

SFA over current.

Feedback power supply over current.

Check for short-circuit in the cable between the SFA and the drive.

F4x19

SFA under voltage.

High wire resistance or short on cable between SFA and drive.

Check for loose wiring between the SFA and the drive.

F4x20

Feedback: safety fault.

Feedback safety system has faulted.

• Check for damaged encoder.
• Replace if problem persists.

F4x21

Feedback: Watchdog fault.

Feedback subsystem stopped responding.

• Internal system fault.
• Report failure to Kollmorgen.

F4x22

Unrecognized feedback fault.

FPGA reported unrecognized fault.

• Issue AXIS#.CLRFAULTS.
• If the problem persists, contact Kollmorgen Customer Support.

F4x28

The feedback position changed while the power was off and Store Multiturn enabled.

The feedback position changed while the power was off and Store Multiturn enabled.

1. Disable Store Multiturn.
   See FB#.STOREMULTITURN.ENABLE.
2. Clear the faults.
   See AXIS#.CLRFAULTS.
3. Re-enable Store Multiturn.
4. The fault is removed and the stored multiturn counts reset to zero.

F4x29

The Store Multiturn feature requires an absolute device.

The Store Multiturn feature requires an absolute device.

1. Disable Store Multiturn (see FB#.STOREMULTITURN.ENABLE).
2. Attach an absolute feedback.
3. Configure the absolute feedback (see FB#.SELECT).
4. Clear faults (see AXIS#.CLRFAULTS).
5. Re-enable Store Multiturn.

6. The fault is removed and the stored multiturn counts reset to zero.

F5000

Motor overheated.

Motor overheated.

Check ambient temperature. Check motor mounting heat sink capability.

F5001

Brake 1 current out of range.

• Brake 1 current out of range detected on drive with pass-thru hardware.
• Brake 1 current measurement error on drive with SMM hardware.

Check brake wiring.

F5002

Brake 2 current out of range.

• Brake 2 current out of range detected on drive with pass-thru hardware.
• Brake 2 current measurement error on drive with SMM hardware.

Check brake wiring.

F5003

Brake applied when it should be released.

Motor brake closed unexpectedly.

Check cabling and general functionality.

F5004

Brake released when it should be applied.

Brake disengaged unexpectedly.

Check cabling and general functionality.

F5005

Drive motor parameters setup incomplete.

• Before a motor can be enabled, you must configure a minimum set of parameters.
• These parameters have not been configured.

Issue the command AXIS#.SETUPREQLIST to display the list of the parameters you must configure.

Configure these parameters manually or automatically.

You can manually configure these parameters in three ways:

1. Set each parameter individually.
2. Use the setup wizard to select the motor.
3. Select the motor type from the motor data base in the Motor window.

• AXIS#.MOTOR.AUTOSET must be set to 0 [off]).
• If you use the Motor window, you must first select the feedback type.
• If the motor has (missing or bad snippet) Analog, (missing or bad snippet), or SFD feedback (feedback with memory), these parameters are set automatically when AXIS#.MOTOR.AUTOSET is set to 1 (on).

F5006

Temperature sensor detected open circuit.

Motor thermal sensor measurement indicates expected sensor is not connected.

• Check temperature sensor connection.
• Verify thermal sensor type (AXIS#.MOTOR.RTYPE) is correct.

F5011

Brake 1 under current.

Brake 1 current too low on drive with SMM hardware.

Check the brake wiring.

F5012

Brake 2 under current.

Brake 2 current too low on drive with SMM hardware.

Check the brake wiring.

F5013

Brake 1 over current.

Brake 1 current too high on drive with SMM hardware.

Check the brake wiring.

F5014

Brake 2 over current.

Brake 2 current too high on drive with SMM hardware.

Check the brake wiring.

Re-load parameters from a file to restore tuning or re-tune using Quick Tune, or the Performance Servo tuner.

• 
  
• Using tuning from a different motor is not recomended.

F5100

AXIS#.IL.FBSOURCE has unidentified feedback selected.

The type of the feedback referenced by AXIS#.IL.FBSOURCE was not identified successfully.

• Check the connection for the feedback referenced by AXIS#.IL.FBSOURCE.
• Check FB#.SELECT is correct for the feedback.

F5101

AXIS#.VL.FBSOURCE has unidentified feedback selected.

The type of the feedback referenced by AXIS#.VL.FBSOURCE was not identified successfully.

• Check the connection for the feedback referenced by AXIS#.VL.FBSOURCE.
• Check FB#.SELECT is correct for the feedback.

F5102

AXIS#.PL.FBSOURCE has unidentified feedback selected.

The type of the feedback referenced by AXIS#.PL.FBSOURCE was not identified successfully.

• Check the connection for the feedback referenced by AXIS#.PL.FBSOURCE.
• Check FB#.SELECT is correct for the feedback.

F5500

Wake and Shake - Insufficient movement.

There was less movement than defined by AXIS#.WS.DISTMIN

Increase AXIS#.WS.IMAX and/or AXIS#.WS.T . Or try using AXIS#.WS.MODE 1 or 2.

F5501

Wake and Shake - Excess movement.

Either:

• AXIS#.WS.DISTMAX has been exceeded in AXIS#.WS.MODE 0.
• More than 360 degrees was traveled in AXIS#.WS.MODE 2.

Increase AXIS#.WS.DISTMAX value or reduce AXIS#.WS.IMAX or AXIS#.WS.T . Wake and Shake is not supported for vertical/overhung loads.

F5502

Wake and Shake - Fine-Coarse delta too large.

The angle difference between the coarse and fine calculation was larger than 72 deg.

Modify AXIS#.WS.IMAX or AXIS#.WS.T and try again.

F5503

Wake and Shake - Over speed.

AXIS#.WS.VTHRESH was exceeded.

Increase AXIS#.WS.VTHRESH value or reduce AXIS#.WS.IMAX or AXIS#.WS.T .

F5504

Wake and Shake - Loop angle delta too large.

The angle between complete loops was larger than 72 deg.

Modify AXIS#.WS.IMAX or AXIS#.WS.T and try again.

F5505

Wake and Shake - Commutation not initialized.

• The motor requires the commutation initialization (there are no encoder commutation tracks, Hall sensors, etc.)
• No successful Wake and Shake sequence has been performed.

Clear any faults, activate the Wake and Shake procedure (AXIS#.WS.ARM), and enable the drive.

F5506

Wake and Shake - Motor U phase missing.

No current was detected in the motor's U phase during Wake and Shake initialization (Mode 0 only).

Check the motor connections and AXIS#.WS.IMAX (very low current may produce this error).

F5507

Wake and Shake - Motor V phase missing.

No current was detected in the motor's V phase during Wake and Shake initialization (Mode 0 only).

Check the motor connections and AXIS#.WS.IMAX (very low current may produce this error).

F5508

Wake and Shake - Motor W phase missing.

No current was detected in the motor's W phase during Wake and Shake initialization (Mode 0 only).

Check the motor connections and AXIS#.WS.IMAX (very low current may produce this error).

F5509

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.

F5510

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.

F5511

Wake and Shake - validating comm. angle timed out.

During one of the Wake and Shake validation stages, the drive stopped responding to commands.

Contact Kollmorgen Customer Support.

F5512

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.

F5513

Wake and Shake - validating comm. angle required more than AXIS#.MOTOR.ICONT.

A current larger than AXIS#.MOTOR.ICONT was used to excite the motor.

This indicates one of the following:

• Phase angle is incorrect due to a bad wake and shake.
• Motor has very high friction requiring high current to break free.
• Motor power cable is disconnected or improperly wired.

F5514

Wake and Shake - limit switch hit

A digital input configured as a limit switch through the action table has triggered or the position feedback is outside software position limits.

Move the load away from the limits.

F5515

Wake and Shake is not compatible with Gantry configurations.

Wake and Shake was started with an axis configured as a Gantry.

Make sure no axis has Gantry as its Command Source.

F5516

Wake and Shake is not supported when AXIS#.IL.OFFSET is non-zero

Wake and Shake was started with AXIS#.IL.OFFSET set to a non-zero value.

Set AXIS#.IL.OFFSET to zero until commutation has been established.

F6000

Over speed

Motor exceeded AXIS#.VL.THRESH.

Increase AXIS#.VL.THRESH or lower velocity command.

F6001

Following error magnitude fault

Motor did not follow command values. Motor exceeded maximum allowed position following error (user).

Check feedback commutation setup and tuning parameters.

F6002

Invalid commutation detected - motor accelerating in the wrong direction. Motor phase may be incorrect.

• The velocity of the motor exceeded AXIS#.WS.CHECKV.
• The sign of the current was not equal to the sign of motor acceleration or the sign of motor velocity for a period of time larger than AXIS#.WS.CHECKT.

1. Check motor phase wiring.
2. Re-configure Wake and Shake (if Mode 0 or 1 is used).
3. Re-run Wake and Shake to determine correct commutation angle.

F6003

Instability during autotune

• Drive current (AXIS#.IL.CMD) or velocity feedback (AXIS#.VL.FB) exceeds allowable limit (AXIS#.BODE.IFLIMIT or AXIS#.BODE.VFLIMIT).
• This fault only occurs in AXIS#.BODE.MODE 5.
• This fault often occurs when complex mechanics, belts, and compliant loads are present.

• Change AXIS#.BODE.MODE if appropriate.
• If AXIS#.BODE.MODE 5 is appropriate and the fault occurs at the end of an Autotuning, then the motor is not robustly stable.
• Manually adjust Autotuner settings.
• Manual tuning may be required to make the motor stable.

F6004

Target position was overshot 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 AXIS#.CLRFAULTS.
• Change the value of AXIS#.FAULT6004.ACTION.

F6005

Emergency timeout occurred.

Motor did not stop in the timeout defined in AXIS#.DISTO.

• Change the timeout value.
• Change the stop parameters.
• Improve tuning.

F6006

Current home mode requires AXIS#.HOME.IPEAK to be set.

Some homing modes require AXIS#.HOME.IPEAK to be a non-zero value.

Set AXIS#.HOME.IPEAK to a non-zero value or use a different homing mode (AXIS#.HOME.MODE).

F6007

Gantry master faulted.

The master axis of the gantry has faulted causing the slave to fault.

DRV.CLRFAULTS to clear both axes’ faults.

F6008

Gantry slave faulted.

The slave axis of the gantry has faulted causing the master to fault.

DRV.CLRFAULTS to clear both axes’ faults.

F6028

Gearing feedback source is invalid.

The feedback selected as the gearing source is uninitialized or assigned to the same feedback being used as the commutation, velocity, or position feedback source.

Verify AXIS#.GEAR.FBSOURCE is not 0 and does not match the feedback being used for AXIS#.IL.FBSOURCE, AXIS#.VL.FBSOURCE, AXIS#.PL.FBSOURCE.

F6029

Gantry position error fault.

GANTRY.PL.ERR exceeded GANTRY.PL.ERRWTHRESH.

Increase warning threshold, fix mechanical linkage, improve tuning or remove disturbances.

F7000

Fieldbus communication lost.

Fieldbus: All but Modbus.

EtherNet/IP Explanation: EtherNet/IP connection timed out

All fieldbus communication was lost.

EtherNet/IP Potential Causes: Cable disconnection or network issues between PLC and drive.

Check fieldbus connections, settings, and control unit.

EtherNet/IP Remedies: Ensure the network cable is connected to the fieldbus port on the drive and there is nothing preventing passage of network packets between the PLC and the drive

F7001

Fieldbus sync frames lost.

Fieldbus: EtherCAT

The fieldbus lost synchronization.

Check fieldbus connection or the settings of your EtherCAT or CANopen master.

F7002

Fieldbus Heartbeat lost

Fieldbus: EtherCAT

Heartbeat lost.

• Check CANopen cabling.
• Reduce bus load or increase the heartbeat update time.

F7003

PLL failed to lock.

Fieldbus: All but Modbus.

EtherNet/IP Explanation: PLL took too long to lock.

Fieldbus PLL failed to lock.

EtherNet/IP Potential Causes: A connection was made, causing the PLL to try to lock, but a lost or inconsistent update rate caused the lock to fail.

Check fieldbus wiring and settings.

Click here for more EtherNet/IP remedies.

• Cycle Time can be viewed inWorkBench's EtherNet/IP view or queried in Terminal using EIP.INFO.
• Stream Period can be viewed in EtherNet/IP → Axis# → CIP Sync tab or queried in Terminal using AXIS#.EIP.STREAMPERIOD.
• Check the CIP Sync tab for Synchronized, Mode, State, and if System Time is present or states "Not Synchronized." This can also be queried in Terminal using EIP.SYNCINFO.

F7004

PLL lost lock.

Fieldbus: All with PLL (comes with FPGA).

EtherNet/IP Explanation: PLL lost lock

Fieldbus PLL lost lock.

EtherNet/IP Potential Causes:

Check fieldbus wiring and settings.

EtherNet/IP Remedies: Check that connection is consistent between drive and PLC

Click here for more EtherNet/IP remedies.

• Cycle Time can be viewed inWorkBench's EtherNet/IP view or queried in Terminal using EIP.INFO.
• Stream Period can be viewed in EtherNet/IP → Axis# → CIP Sync tab or queried in Terminal using AXIS#.EIP.STREAMPERIOD.
• Check the CIP Sync tab for Synchronized, Mode, State, and if System Time is present or states "Not Synchronized." This can also be queried in Terminal using EIP.SYNCINFO.
  
  See Also.

  • Part 15: Enable Time Synchronization

  • Part 17-1: Verifying CIP Sync mode and Synchronized/Locked State

F7005

Fieldbus cyclic setpoints missing.

Fieldbus: EtherCAT, EtherNet/IP.

EtherNet/IP Explanation: Missed too many packets from the PLC.

Fieldbus communication interrupted.

EtherNet/IP Potential Causes: Drive missed three or more packets with streaming active, or twelve or more packets in a row without streaming active.

Check fieldbus wiring and settings.

EtherNet/IP Remedies

• See EIP.MISSEDPACKETCOUNT to view the internal fault counter.
  The fault threshold can be adjusted with EIP.PACKETMISSTHRESHOLD.
• If too many packets are missed at any one time, control can be compromised.
• Check the network cable and ensure PLC is configured properly for cyclic communication.
• Check that the PLC processor has Enable Time Synchronization checked.
  See Also.

  • Part 15: Enable Time Synchronization
  • Part 17-1: Verifying CIP Sync mode and Synchronized/Locked State

F7006

Fieldbus initialization failed.

Fieldbus: All but Modbus

EtherNet/IP drives: Incompatible internal EtherNet/IP Adapter firmware version installed.

EtherNet/IP Explanation: EtherNet/IP fieldbus initialization failed.

CAN-wiring might be wrong or internal failure.

EtherNet/IP Potential Causes: Bad internal EtherNet/IP Adapter firmware or other internal issue.

• Check CAN-wiring and termination or contact Customer Support.
• For EtherNet/IP drives, install the correct internal EtherNet/IP Adapter firmware version for the installed drive firmware version.
• The installed internal EtherNet/IP Adapter firmware version can be viewed with the EIP.INFO keyword.

F7007

Sign of life error counter exceeded threshold.

Fieldbus: PROFINET

• PROFINET synchronization issues.
• The PLC sign of life counter is not increasing by 1 each cycle, indicating missed samples.

Check Ethernet cables, PLC load, network issues.

F7008

Telegram configuration invalid.

Fieldbus: PROFINET

• The free mapping telegram or supplemental telegram is used and is configured incorrectly.
• Verify no duplicate signals are mapped and 32-bit signals are mapped correctly (two 16-bit slots used).

Correct the telegram configuration.

F7009

Fieldbus shutdown.

Fieldbus: EtherNet/IP, PROFINET

EtherNet/IP Explanation: EtherNet/IP application shutdown unexpectedly.

Internal drive firmware error.

EtherNet/IP Potential Causes: Bad internal EtherNet/IP Adapter firmware

• Reboot the drive.
• If the problem persists, contact Kollmorgen Customer Support.

EtherNet/IP Remedies: Check internal EtherNet/IP Adapter firmware is correct using EIP.INFO.

F7011

EtherCAT synchronization error.

Fieldbus: EtherCAT

• The error counter limit 10F1h sub 2 (ECAT.MAXSYNCERROR) was exceeded by one of the error counters defined by object 1C33h sub 11 or 13.
• It is possible, but not recommended, to switch the supervision off by setting a value of 0.

Either:

• Change the input shift via object 1C33h sub 3 (ECAT.INPUTSHIFTU).
• Try to minimize the EtherCAT master’s jitter.

F7013

Fieldbus cyclic setpoint buffer overload

Fieldbus: EtherNet/IP

EtherNet/IP Description: The interpolator queue was full but still received another point.

Update rate mismatch that results in receiving more points than are being consumed.

Check that the PLC update rate (Motion Group) is not faster than Stream Period

Click here for more EtherNet/IP remedies.

• Cycle Time can be viewed inWorkBench's EtherNet/IP view or queried in Terminal using EIP.INFO.

• Stream Period can be viewed in EtherNet/IP → Axis# → CIP Sync tab or queried in Terminal using AXIS#.EIP.STREAMPERIOD.

• Check the CIP Sync tab for Synchronized, Mode, State, and if System Time is present or states "Not Synchronized." This can also be queried in Terminal using EIP.SYNCINFO.

F7015

Fieldbus velocity command too low.

Fieldbus commanded a velocity lower than the minimum limit.

Note: This fault is disabled by default. See AXIS#.FAULT7015.ACTION.

Either:

• Increase fieldbus velocity command.
• Change AXIS#.FAULT7015.ACTION to allow motion to continue.
• If motion continues, the velocity is clamped at AXIS#.VL.LIMITN.

F7016

Fieldbus velocity command too high.

• Fieldbus commanded a velocity higher than the maximum limit.
• This fault is disabled by default.
• See AXIS#.FAULT7016.ACTION.

Either:

• Reduce fieldbus commanded velocity.
• Change AXIS#.FAULT7016.ACTION to allow motion to continue.
• If motion continues, the velocity is clamped at AXIS#.VL.LIMITP.

F7019

Fieldbus position setpoints took too long to be updated.

Fieldbus: EtherNet/IP

• Drive received at least three fieldbus commands in a row that arrived later than expected.
• This fault can also be triggered by commands with timestamps that are older than or the same as the previous command received.

• Configure timing properly on the controller side. Ensure the drive and controller clocks are being synchronized. Verify EIP.PLLMODE is set to 1 (CIP Sync).

• Check that PLC update rate (Motion Group) is not slower than Stream Period and that the PLC program is updating the time for each point

• See AXIS#.EIP.STREAMPERIOD and EIP.ASY105.AXIS#.​LATESETPOINTS.

F9000

Safe torque off.

• Safe torque off function has been triggered.
• F9000 is only generated if AXIS#.SAFE.STO.REPORTFAULT is 1.

Reapply supply voltage to STO if safe to do so.

F9002

SMM communication failed.

Safe Motion Module not communicating as expected.

Contact Kollmorgen Customer Support.

F9003

Incorrect safety card detected.

Physical SMM module does not match the expected module.

Contact Kollmorgen Customer Support.

F9004

Safe torque off digital and analog lines don't match.

Hardware fault on the power board.

• Restart the drive.
• If the issue persists, contact Kollmorgen Technical Support.

F9005

STO Simultaneity

The two STO inputs did not change state within 100 ms of each other.

Check wiring and safety apparatus.

F9006

SMM in failed state.

• SMM detected a safety I/O failure and faulted.
• This can be caused by: digital I/O pulse failed, STO pulse failed, encoder position failure, or serial communication failed.

Determine cause and replace necessary hardware if issue reoccurs.

Sync timer PLL.

Incorrect EDS parameter definitions.

• An electronic data sheet file containing drive identity information has inconsistent parameter definitions.
• The parameters are set to default values that allow the drive to operate.
• This condition is rare, but may occur after a firmware update.

Drive foldback imminent!

Reduce Load.

Current command is high enough to trip Drive Foldback threshold.

AXIS#.IL​.FOLDWTHRESH determines the trip threshold for this warning.

Motor foldback imminent!

Reduce Load.

Current command is high enough to trip Motor Foldback threshold.

AXIS#.IL​.FOLDWTHRESH determines the trip threshold for this warning.

Line voltage spiked above VBUS.OVWTHRESH, or motor back emf generated voltage above VBUS.OVWTHRESH.

Bus capacitor overloaded.

24 volts was not detected on x21 connector.

• 
  
• Digital outputs are not functional without 24V.

• This warning is enabled/disabled by DIO.POWERWEN.

Occurs when the drive hardware:

1. Detects the loss of one or more phases when configured for three-phase AC input, or
2. Detects AC input power loss when configured for single-phase AC input.

Broken wire connection to motor.

• At least one of the motor phases are not connected to the servo drive.
• For this warning detection to properly work, motor parameters must be set correctly.
• This warning is only generated if AXISx.FAULT2018.ACTION is set to 4.

Low temperature limit measured on power board circuit.

DRV.TEMPWTHRESH sets the threshold for this warning.

Internal power board temperature is overheating.

AXIS#.TEMPWTHRESH sets the threshold for this warning.

Internal power board is getting below specified operating temperature.

AXIS#.UTWTHRESH sets the threshold for this warning.

Regen circuit temperature is overheating.

REGEN.TEMPWTHRESH sets the threshold for this warning.

Internal regen circuit temperature is getting below specified operating temperature.

REGEN.UTWTHRESH sets the threshold for this warning.

• The drive encountered an error during execution of an action task.
• See ACTION.ERRORS / ACTION#.ERROR.

W3101

A MechaWare model has a configuration problem.

Across all active MechaWare models there exists at least one missing or duplicate block that is expected.

W3102

An axis is missing its Motor Torque block.

Across all active MechaWare models an axis is missing its Motor Torque block.

W3103

An axis has a duplicate Motor Torque block.

Across all active MechaWare models there is more than one Motor Torque block for an axis.

Feedback Parity warning.

Feedback Overrun warning.

Feedback Framing warning.

W4x32

• The drive’s accumulated position is outside of the encoder’s range.
• Absolute position is lost when power cycling the drive or reinitializing the feedback.

• AXIS#.MOTOR.RSOURCE selected an invalid mechanism for reading motor temperature.
• Example: Using an incremental encoder but setting AXIS#.MOTOR.RSOURCE to read temperature digitally from the encoder.

• When a motion task, service motion or homing move is started, the drive checks to see if the motion would exceed the range given by AXIS#.VL.LIMITP and AXIS#.VL.LIMITN.
• If this range is exceeded, the motion is modified to be within range and this warning is generated.
• This warning is latched and only cleared if a new motion is commanded or AXIS#.CLRFAULTS is used.
• This means the last motion started was modified to fit into the velocity limits.

• Motor did not follow command values.
• Motor exceeded maximum allowed position following error AXIS#.PL.ERRWTHRESH.

• Attempt to issue motion task before the axis is homed.
• Axis must be homed before motion task can start.

Either:

• A digital input is configured as positive limit switch (DINx.MODE 18) and its state is off.
• A positive software position limit is configured (AXIS#.SWLS.EN) and the actual position AXIS#.PL.FB is greater than the configured limit.

See AXIS#.SWLS.LIMIT#.

Either:

• A digital input is configured as negative limit switch (DINx.MODE 19) and its state is off.
• A negative software position limit is configured (AXIS#.SWLS.EN) and the actual position AXIS#.PL.FB is less than the configured limit.

See AXIS#.SWLS.LIMIT#.

Following motion failed, check motion parameters.

Activation of the motion task failed due to incompatible parameters or motion task does not exist.

• The motion task crosses the target position after triggering an AXIS#.STOP command.
• This can happen when processing a change on the fly motion task and triggering an AXIS#.STOP command close to the target position of the currently running motion task.

Motion task activation failed.

• Activation of the motion task failed due to incompatible parameters or motion task does not exist.
• This warning can appear upon an AXIS#.MT.MOVE command.

• This warning appears with W6014.
• This warning is triggered when you try to trigger a motion task with an absolute target position outside of the selected modulo range.
• See AXIS#.MT.CNTL.

• This warning appears with W6014.
• This warning is triggered when you try to trigger a motion task with an invalid bit combination in the motion task controword.
• See AXIS#.MT.CNTL.

1:1 profile cannot be triggered on the fly.

• This warning appears with W6014.
• This warning is triggered when you try to trigger a 1:1 profile table motion task while another motion task is currently running.

Customer profile table is not initialized.

• This warning appears with W6014.
• This warning is triggered when you try to trigger a motion task that uses a customer profile table for generating the velocity profile and when the selected profile table is empty
• See AXIS#.MT.CNTL and MT.TNUM.

Motion task is not initialized.

• This warning appears with W6014.
• This warning is triggered when you try to trigger a non-initialized motion task.

• A homing mode is selected which cannot work with the current feedback.
• Example: Homing modes 3, 6, 10 and 11 require the feedback to provide a Z/index pulse and not all feedbacks provide this signal.
• If the homing move is started then it may run continuously because it is missing a signal from the feedback.

• 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.
• This warning is only generated if AXIS#.FAULT6004.ACTION is set to 4.

All fieldbus communication was lost.

• PROFINET.USEMODULECFG is set to 0 and the telegram selected by AXIS#.PROFINET.TELEGRAMID/AXIS#.PROFINET.​SUPPTELEGRAMID is larger than the telegram configured in the PLC.
• Cyclic data is truncated to the length of the PLC’s telegram.

EtherCAT Rx received before preparing Tx data finished.

Within one fieldbus cycle, Rx data from the master was received before the drive finished calculating and copying Tx data.

• 
  
• To catch quick glitches in the sync timing, this warning is latched at the first occurrence and must be cleared by clearing faults.

W7012

• Fieldbus commanded a velocity lower than the minimum limit.
• This warning is only generated if AXIS#.FAULT7015.ACTION is set to 4.

• Fieldbus commanded a velocity higher than the maximum limit.
  This warning is only generated if AXIS#.FAULT7016.ACTION is set to 4.

• One or more fieldbus position setpoints took too long to arrive.
• If this occurs three or more times in a row, it will trigger F7019.
• This warning is latched until the drive stops following controller position.

• Safe torque off function has been triggered.
• W9000 is only generated if AXIS#.SAFE.STO.REPORTFAULT is 1.