axismd.ai
KUKA Robot Controller
Parameter · Basic
KUKA Robot KRC0099 - WRONG DRIVES PARAMETER <AXIS NUMBER> **
This alarm indicates that the drive parameters configured for the specified axis in the robot controller do not match the actual hardware configuration or are invalid. The mismatch typically occurs during system initialization when the KRC controller attempts to validate axis parameters against the physical drive modules and encoder feedback systems. This prevents the axis from being properly commissioned and the robot cannot operate until the parameters are corrected.
KRC0099
KUKA Robot KRC0099 - WRONG DRIVES PARAMETER <AXIS NUMBER> **
WRONG DRIVES PARAMETER <AXIS NUMBER> **
This alarm indicates that the drive parameters configured for the specified axis in the robot controller do not match the actual hardware configuration or are invalid. The mismatch typically occurs during system initialization when the KRC controller attempts to validate axis parameters against the physical drive modules and encoder feedback systems. This prevents the axis from being properly commissioned and the robot cannot operate until the parameters are corrected.
Common Causes
- Drive hardware configuration does not match the parameters defined in the robot's configuration files
- Incorrect axis number assignment or indexing in the drive parameter configuration
- Corrupted or improperly loaded drive firmware on the servo amplifier for the specified axis
- Encoder type mismatch between the physical encoder installed and the declared encoder type in parameters
- Incorrect motor specification, power rating, or electrical characteristics in the drive configuration data
Troubleshooting Steps
- 1Verify the physical drive module is properly installed, powered on, and communicating with the KRC controller by checking the drive status LEDs and bus diagnostics
- 2Cross-reference the axis number in the alarm message with the robot's kinematic chain configuration file (typically in the robot model data) to confirm correct assignment
- 3Compare the configured drive parameters (motor type, encoder type, resolver ratio, current limits) in the Advanced Commissioning Tool with the actual hardware nameplates and encoder specifications
- 4Reload or restore the drive configuration parameters from the correct configuration database file and reinitialize the axis using the Startup/Commissioning function
- 5Check the KRC system message log and drive diagnostics for additional error codes that may indicate firmware version mismatches or hardware incompatibility
- 6If parameters are correct, perform a power cycle of the affected drive module and full KRC controller restart to reinitialize the parameter validation process
Seeing Multiple Alarms?
Seeing another alarm with this one? Enter the code.
Get machine-aware diagnosis
AxisMD logs alarms against your actual machines, tracks patterns, and gives AI context your manual doesn't have.
Start freeWas this guide helpful?
Always verify with your machine manual or a certified technician before performing service procedures.