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So here's my story. Boss decided I'm going to start programming our custom built machines. He said," Theres a computer over there, go use it." 

We use TRIO with Motion Perfect v4, Proface HMIs with GP-PRO EX, Kollmorgen drives and servos (at least sometimes). So I've got everything wired up and the drive (AKD-P) is giving me fault F401 no matter what I do. Our servo is a Kollmorgen AKM 52L. The drive and servo are connected via a Kollmorgen Hybrid Cable AKD. 

This application note demonstrates specifically with Digital MMC Smartdrive with Drive Resident Control Card to Modbus Poll and to KVB/AKI configured as Modbus Serial masters.