KRC0117

Common Causes

• Physical collision between robot TCP, arm segments, or dress pack with tooling, fixtures, part handling equipment, or cell infrastructure during programmed motion
• Incorrect payload and center of gravity parameters in $LOAD data not matching actual end-effector weight distribution causing torque model mismatch
• Mechanical binding or increased friction in axis gearbox, bearing failure, or contamination in joint causing abnormal resistance to motion
• Collision detection sensitivity parameters set too aggressively low in Safety Configuration making system hypersensitive to normal dynamic loads
• External forces applied by process equipment such as stuck welding wire, gripping force reaction, or cable harness snagging creating unexpected torque

Troubleshooting Steps

1. 1Step 1: Visually inspect robot work envelope for any physical contact points, displaced fixtures, fallen parts, or cable routing interference that occurred at alarm trigger
2. 2Step 2: Acknowledge alarm and manually jog affected axis in T1 mode at low speed to verify free mechanical movement without binding or unusual noise
3. 3Step 3: Navigate to Display > Variable > Single and verify $LOAD payload parameters including mass, center of gravity coordinates, and inertia values match actual tooling specifications
4. 4Step 4: Review Configuration > Safety Configuration > Collision Detection settings to check sensitivity level for each axis, temporarily increase thresholds if false triggering suspected
5. 5Step 5: Perform manual motion test of suspect axis through full range while monitoring torque values in Diagnosis > Drive Information to identify mechanical resistance or binding points
6. 6Step 6: If mechanical issue confirmed, inspect gearbox lubrication status, check bearing play, verify motor brake release function, escalate for mechanical teardown if internal damage suspected