KUKA Robot codes
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KUKA Robot Controller

System · Basic

Alarm KRC0090

KUKA Robot KRC0090 - MODE NOT ALLOWED

This alarm occurs when the E2 keyswitch on the teach pendant is positioned in AUTO mode while attempting to execute an operation that requires a different mode, such as manual jogging or program editing. The KRC controller restricts certain operations based on the keyswitch mode to ensure operator safety and prevent unintended robot motion during sensitive tasks.

KUKA RobotSystemBasic

KRC0090

KUKA Robot KRC0090 - MODE NOT ALLOWED

MODE NOT ALLOWED

This alarm occurs when the E2 keyswitch on the teach pendant is positioned in AUTO mode while attempting to execute an operation that requires a different mode, such as manual jogging or program editing. The KRC controller restricts certain operations based on the keyswitch mode to ensure operator safety and prevent unintended robot motion during sensitive tasks.

Common Causes

  • E2 keyswitch left in AUTO position when attempting to jog or move axes manually
  • Attempting to edit or modify a program while the keyswitch is in AUTO mode
  • Switching modes during active program execution without proper procedure
  • Hardware malfunction or stuck E2 keyswitch preventing mode selection
  • Software conflict or mode state mismatch in the KRC controller memory

Troubleshooting Steps

  1. 1Verify the physical position of the E2 keyswitch on the teach pendant and rotate to the appropriate mode required for the intended operation
  2. 2If manual intervention is needed, ensure the keyswitch is in MANUAL or T1/T2 mode depending on the task
  3. 3Stop any active program execution using the STOP button before attempting mode changes
  4. 4Check for mechanical obstructions or damage to the E2 keyswitch and clean if necessary
  5. 5Power cycle the KRC controller by switching the main power disconnect to OFF, wait 10 seconds, then restore power to reset the mode state
  6. 6If the alarm persists after mode correction, contact KUKA service to inspect the keyswitch hardware and verify controller software integrity

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