KUKA Robot codes
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KUKA Robot Controller

Servo/Axis · Basic

Alarm KRC0116

KUKA Robot KRC0116 - SERVO BUS DISTURBANCE **

This alarm indicates a communication disturbance on the servo bus (SERCOS interface) between the KRC controller and the servo drives. The servo bus is critical for real-time motion control, and this disturbance prevents proper command transmission and feedback reception from the robot axes, causing the controller to halt motion and trigger a safety stop.

KUKA RobotServo/AxisBasic

KRC0116

KUKA Robot KRC0116 - SERVO BUS DISTURBANCE **

SERVO BUS DISTURBANCE **

This alarm indicates a communication disturbance on the servo bus (SERCOS interface) between the KRC controller and the servo drives. The servo bus is critical for real-time motion control, and this disturbance prevents proper command transmission and feedback reception from the robot axes, causing the controller to halt motion and trigger a safety stop.

Common Causes

  • Loose or damaged SERCOS fiber optic cables or connectors between controller and servo drives
  • Electromagnetic interference (EMI) from nearby welding equipment, high-frequency devices, or improperly shielded cables
  • Faulty servo drive hardware or corrupted drive firmware
  • Incorrect SERCOS bus topology configuration or termination resistor failure
  • Power supply instability or voltage fluctuations affecting servo drive operation

Troubleshooting Steps

  1. 1Power cycle the KRC controller completely (disconnect main power for 30 seconds) to reset the servo bus communication
  2. 2Visually inspect all SERCOS fiber optic cables and connectors for damage, dirt, or loose connections; clean optical surfaces with appropriate lens cleaning materials
  3. 3Check cable routing to ensure SERCOS lines are separated from high-power electrical cables and are not routed near EMI sources; relocate or shield cables if necessary
  4. 4Verify SERCOS bus topology configuration in the KRC system parameters matches the actual hardware setup and confirm all termination resistors are properly installed
  5. 5Access the servo drive diagnostics through the teach pendant or control panel to check drive status codes and verify firmware versions are current
  6. 6If the alarm persists, isolate the problem by disconnecting axes one at a time to identify which servo drive is causing the bus disturbance, then replace or repair the faulty component

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