Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 15.1 Fault and Warning Messages
Fault Message/Warning Cause Remedy
n152 Not enough distance to move;
following motion exception.
A new motion task activated,
when one motion task is
already active and the target
position specified in the motion
task parameters cannot be
reached with specified target
velocity, acceleration and
deceleration parameters. The
motion task will directly decel-
erate to into the target 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.
n153 Velocity limit violation, exceed-
ing max limit.
A new target velocity cal-
culated 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.
n154 Following motion failed; check
motion parameters.
Activation of the following
motion task failed due to
incompatible parameters, or
motion task does not exist. Activation of any new motion or
using of DRV.CLRFAULTS will
clear the warning. Check fol-
lowing motion task settings and
parameters to make sure that
the values entered will produce
a valid motion task.
n156 Target position crossed due to
stop command.
The motion task crosses the
target position after triggering a
DRV.STOP command. This
situation can happen when
processing a change-on-the-fly
motion task and triggering 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.
n157 Homing index pulse not found. A homing mode with index
detection is activated, and
index pulse is not detected
while moving across the range
determined by the hardware
limit switches.
Activation of any new motion or
using of DRV.CLRFAULTS will
clear the warning.
n158 Homing reference switch not
found.
A homing mode with reference
switch detection is activated
and the reference switch is not
detected while moving across
the range determined by the
hardware limit switches. Activation of any new motion or
using of DRV.CLRFAULTS will
clear the warning.
Kollmorgen™ | December 2012 138