F602 STO Fault Help
Hello, Im Hafiz Alsree working on final-year project about development of counterbalance mechanism for aerospace application in Nanyang Polytechnic.
I have an AKM3e servo motor to pull a load (Elevator application) with AKD-P00306-NBAN-0000 servo drive model.
Problem: Received fault F602 (Safe torque off).
Description: After power on the whole system, AKD has display code of "n6, n0, n2". After initializing settings on NI MAX and enabling Kollmorgen Workbench, AKD display code show "F6, F0, F2".
AKD3e servo motor
UMI 7772 (National Instrument)
NI 7340 (National Instrument)
Please assist and advice.
Comments & Answers
jcoleman02 said ...
The Safe Torque OFF (STO)
The "Safe Torque OFF" (STO) function is controlled by digital input X1:3. The workbench displays the state of this input only.
Please refer to https://kdn.kollmorgen.com/content/safety-concept-akd" and to the AKD Installation Manual ("https://kdn.kollmorgen.com/sites/default/files/public_downloads/AKD%20I…;) for further details. There you will find the information, how to connect the input and for what it is used.
So 24VDC have to connect to
So 24VDC have to connect to STO input.
But if I want to use the STO output, I have to connect it to a safety relay switch? Is this the only way to use STO output?
@jcoleman02, my reply is
@jcoleman02, my reply is above at the Answers with pictures.
Hafiz Alsree said ...
The X1 3-pin connector is this:
Is this the STO output (Suppose to connect to STO input on X1 3-pin connector)?
If not, what is that for? Or it has nothing to do with STO?
Also, I have connected it to STO input and it has F602 fault.
But when I connect 24V DC to STO input, theres no F602 fault.
Hafiz, I'm sorry, I still don
Hafiz, I'm sorry, I still don't know what you mean by "STO output." The AKD drive does not have an STO output. The STO is an input. The STO must be supplied with 24VDC in order to be able to enable the drive. If the STO is off and the drive attempted to be enabled (both hardware and software enables are turned on), then the drive will fault with F602.
The intent of the STO is for a redundant, safety rated means of disabling (or locking out) the AKD drive. Proper operation is to first disable the drive with the hardware enable and then turn off the STO to put the drive into a safe state. The STO is not intended to be used to enable/disable the drive.
I have no way of knowing what
I have no way of knowing what wire is in the picture above. Why are you showing me a picture of a wire and asking me where to connect it? The X1 connector has inputs for 24VDC, ground, and STO. The 24VDC input is to power the logic of the drive (control board power). The ground is the return for the 24VDC. The STO input requires 24VDC applied in order to enable the drive.
Thank you very much for the
Thank you very much for the explanation.
It seems that the software (Kollmorgen Workbench & NI MAX) cause STO to be off.
What could be the cause of this?
Also, I assumed that limit switch is the cause as the motor position could be over limit but after trying to fix it, it still does not work.
Please advice and assist.