KUKA Robot codes
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KUKA Robot Controller

Servo/Axis · Basic

Alarm KRC0050

KUKA Robot KRC0050 - <motion direction> <axis number>

An asynchronous axis has exceeded its programmed software limit boundary in either the positive or negative direction. This safety mechanism prevents the axis from traveling beyond its defined joint limits, which could cause mechanical damage or collision. The alarm is triggered when the axis position command or actual position reaches the configured software limit threshold.

KUKA RobotServo/AxisBasic

KRC0050

KUKA Robot KRC0050 - <motion direction> <axis number>

<motion direction> <axis number>

An asynchronous axis has exceeded its programmed software limit boundary in either the positive or negative direction. This safety mechanism prevents the axis from traveling beyond its defined joint limits, which could cause mechanical damage or collision. The alarm is triggered when the axis position command or actual position reaches the configured software limit threshold.

Common Causes

  • Incorrect axis position data or corrupted axis calibration parameters
  • Programming error with movement commands exceeding defined joint limits
  • Faulty position feedback from the axis encoder or resolver
  • Mechanical obstruction preventing normal axis motion within limits
  • Software limit switch threshold values configured incorrectly in the system parameters

Troubleshooting Steps

  1. 1Identify which axis triggered the alarm by checking the axis number in the alarm message
  2. 2Verify the current axis position and compare against the configured positive and negative software limit values in the Sunrise.Workbench or teach pendant
  3. 3Manually jog the axis slowly away from the limit boundary using the teach pendant in manual mode to restore normal operating range
  4. 4Check the axis calibration data and perform a recalibration if position feedback appears inaccurate
  5. 5Review the motion program for any commands that may intentionally or unintentionally move the axis beyond its defined limits
  6. 6Clear the alarm, perform a full system diagnostic, and test the axis motion in all directions to confirm the issue is resolved

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