KRC0043

Common Causes

• Mechanical collision or obstruction preventing the robot axis from moving, such as tooling interference, fixture contact, or external object blocking motion path
• Servo drive fault or power stage failure in the axis amplifier preventing proper torque generation to the motor
• Broken or disconnected motor brake that remains engaged during motion attempts, mechanically locking the axis
• Resolver or encoder feedback cable damage causing position feedback loss or erratic signals to the servo controller
• Excessive mechanical load on the axis due to overweight tooling, payload exceeding specifications, or worn gearbox creating high friction

Troubleshooting Steps

1. 1Step 1: Acknowledge the alarm on the smartPAD and attempt to jog each axis individually in T1 mode at reduced speed to identify which axis is blocked
2. 2Step 2: Manually move the affected axis by hand after enabling the brake release (if safe to do so) to check for mechanical binding, unusual resistance, or collision damage
3. 3Step 3: In the smartPAD diagnostics menu, navigate to Drive Monitoring and observe the actual current, following error, and motor temperature for the blocked axis during jog attempts
4. 4Step 4: Inspect the motor brake wiring and check brake voltage at the motor connector (typically 24VDC for release) using a multimeter during motion command
5. 5Step 5: Check resolver or encoder cable connections at both motor and drive end for damaged pins, loose connectors, or cable shield grounding issues
6. 6Step 6: If mechanical and electrical checks pass, perform a drive parameter reset and motor commutation procedure in WorkVisual, or replace the suspect servo amplifier if drive fault indicators persist