KUKA Robot codes
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KUKA Robot Controller

System · Intermediate

Alarm KRC0087

KUKA Robot KRC0087 - FEEDBACK SWITCH TOO LONG ON **

This alarm indicates that a feedback switch or limit switch signal remained active (ON) for an unexpectedly long duration, exceeding the controller's timeout threshold. This typically occurs when a safety or end-of-travel switch fails to deactivate properly, or when the robot axis cannot complete its expected motion within the normal time window, causing the switch state to persist abnormally long.

KUKA RobotSystemIntermediate

KRC0087

KUKA Robot KRC0087 - FEEDBACK SWITCH TOO LONG ON **

FEEDBACK SWITCH TOO LONG ON **

This alarm indicates that a feedback switch or limit switch signal remained active (ON) for an unexpectedly long duration, exceeding the controller's timeout threshold. This typically occurs when a safety or end-of-travel switch fails to deactivate properly, or when the robot axis cannot complete its expected motion within the normal time window, causing the switch state to persist abnormally long.

Common Causes

  • Defective or stuck feedback/limit switch that remains in closed position
  • Contamination or mechanical obstruction preventing switch release
  • Wiring fault or loose connector causing intermittent or continuous signal
  • Axis motor failure or brake malfunction preventing normal motion completion
  • Incorrect switch timeout parameter configuration in the robot controller

Troubleshooting Steps

  1. 1Verify the physical condition of the feedback switch and check for mechanical obstructions or contamination
  2. 2Inspect all wiring and connectors associated with the feedback switch circuit for damage, corrosion, or loose connections
  3. 3Manually actuate the axis to confirm the switch toggles properly and signal clears within normal time parameters
  4. 4Test the axis motor movement and brake function to ensure the axis can complete motion without stalling
  5. 5Review and verify the feedback switch timeout parameters in the robot controller configuration match system specifications
  6. 6If issues persist, replace the suspected faulty feedback switch or wiring harness and perform a full axis functional test

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