KRC0040

Common Causes

• Excessive payload mass exceeding the robot's rated capacity for the current configuration
• Collision or impact during motion causing sudden load spike on the affected axis
• Mechanical binding or friction in the joint due to contamination, wear, or misalignment
• Incorrectly calibrated or degraded torque sensor providing inaccurate feedback signals
• Motion program commanding movements with insufficient deceleration or conflicting trajectory parameters

Troubleshooting Steps

1. 1Identify the affected axis from the @P1@ parameter and visually inspect the joint for visible damage, contamination, or mechanical obstruction
2. 2Verify the actual payload mass and center of gravity match the values entered in the robot's load data configuration
3. 3Check the torque limit threshold settings in the axis-specific parameters and compare against the motor nameplate specifications
4. 4Perform a manual joint movement test at reduced speed and monitor real-time torque values using the pendant teach interface
5. 5Inspect the torque sensor connectors and wiring harness for corrosion, loose connections, or cable damage that could cause sensor malfunction
6. 6Review recent program modifications and motion commands, then execute a known working reference program to isolate whether the issue is hardware or software-related