What causes KUKA Robot alarm KRC0139?

Duplicate $PMCHANNEL assignments for different axes pointing to the same power module channel. Invalid or out-of-range channel number specified in $PMCHANNEL that exceeds available power amplifier channels. Incorrect axis-to-channel mapping in the robot configuration file or system data. Corrupted or manually edited system.src or axis configuration files with conflicting channel definitions. Missing or incomplete power module declaration corresponding to the assigned channel number.

How do I fix KUKA Robot alarm KRC0139?

1. Access the robot's system configuration files (typically in $CUSTOMPATH/system/ directory) and verify all $PMCHANNEL assignments in the axis configuration 2. Create a mapping table of all axes and their assigned power module channels to identify duplicate or conflicting assignments 3. Verify that all assigned channel numbers correspond to physically available power amplifier modules installed in the controller cabinet 4. Check the power module declaration section to ensure each referenced channel is properly defined with correct parameters 5. Use KUKA's configuration tool or KRC editor to validate the system configuration syntax and resolve any conflicting assignments 6. If configuration is correct, reload the system data through the teach pendant maintenance menu and perform a cold start of the controller to reinitialize all parameters

KUKA Robot codes

axismd.ai

KUKA Robot Controller

Servo/Axis · Basic

Alarm KRC0139

KUKA Robot KRC0139 - INCORRECT POWER MODULE SETTING <axis>

This alarm indicates a configuration error in the power module settings where a channel has been assigned multiple times or an invalid channel assignment exists for the specified axis. The $PMCHANNEL parameter, which maps axes to their respective power amplifier channels, contains either duplicate assignments or references a non-existent channel number that the controller cannot resolve during initialization.

KUKA RobotServo/AxisBasic

KRC0139

KUKA Robot KRC0139 - INCORRECT POWER MODULE SETTING <axis>

INCORRECT POWER MODULE SETTING <axis>

Common Causes

Duplicate $PMCHANNEL assignments for different axes pointing to the same power module channel
Invalid or out-of-range channel number specified in $PMCHANNEL that exceeds available power amplifier channels
Incorrect axis-to-channel mapping in the robot configuration file or system data
Corrupted or manually edited system.src or axis configuration files with conflicting channel definitions
Missing or incomplete power module declaration corresponding to the assigned channel number

Troubleshooting Steps

1Access the robot's system configuration files (typically in $CUSTOMPATH/system/ directory) and verify all $PMCHANNEL assignments in the axis configuration
2Create a mapping table of all axes and their assigned power module channels to identify duplicate or conflicting assignments
3Verify that all assigned channel numbers correspond to physically available power amplifier modules installed in the controller cabinet
4Check the power module declaration section to ensure each referenced channel is properly defined with correct parameters
5Use KUKA's configuration tool or KRC editor to validate the system configuration syntax and resolve any conflicting assignments
6If configuration is correct, reload the system data through the teach pendant maintenance menu and perform a cold start of the controller to reinitialize all parameters

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