What causes KUKA Robot alarm KRC0146?

External collision or force caused the robot end-effector to deviate from the calculated path trajectory. Encoder error or servo feedback signal loss resulted in axis position drift relative to the programmed path. $MOT_STOP flag was set to FALSE via KUKA smartPAD GUI by operator to enable automatic path recovery. Load cell or force-torque sensor detected external force exceeding threshold, triggering motion stop logic. ABB or third-party peripheral device interlock signal interrupted normal path execution causing deviation.

How do I fix KUKA Robot alarm KRC0146?

1. Observe the robot motion to confirm it is moving smoothly back toward the programmed path at reduced velocity 2. Check the KUKA smartPAD display and logs to identify what event triggered $MOT_STOP and caused the path deviation 3. Inspect the robot workspace for obstacles, tools, or fixtures that may have caused the collision that triggered path deviation 4. Verify that all external safety gates, interlock switches, and peripheral device connections are functioning normally 5. Review the KRL program and motion parameters to ensure path tolerances and velocity limits are appropriate for the task 6. If repositioning completes successfully, monitor the next program cycle; if deviation recurs, contact KUKA support with detailed error logs

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0146

KUKA Robot KRC0146 - AUTOMATIC REPOSITIONING

The robot has deviated from its programmed path and the automatic repositioning feature has been activated because $MOT_STOP_OPT is enabled. The system is now moving the robot back onto the intended path at the configured process velocity to resume safe operation.

KUKA RobotSystemBasic

KRC0146

KUKA Robot KRC0146 - AUTOMATIC REPOSITIONING

AUTOMATIC REPOSITIONING

Common Causes

External collision or force caused the robot end-effector to deviate from the calculated path trajectory
Encoder error or servo feedback signal loss resulted in axis position drift relative to the programmed path
$MOT_STOP flag was set to FALSE via KUKA smartPAD GUI by operator to enable automatic path recovery
Load cell or force-torque sensor detected external force exceeding threshold, triggering motion stop logic
ABB or third-party peripheral device interlock signal interrupted normal path execution causing deviation

Troubleshooting Steps

1Observe the robot motion to confirm it is moving smoothly back toward the programmed path at reduced velocity
2Check the KUKA smartPAD display and logs to identify what event triggered $MOT_STOP and caused the path deviation
3Inspect the robot workspace for obstacles, tools, or fixtures that may have caused the collision that triggered path deviation
4Verify that all external safety gates, interlock switches, and peripheral device connections are functioning normally
5Review the KRL program and motion parameters to ensure path tolerances and velocity limits are appropriate for the task
6If repositioning completes successfully, monitor the next program cycle; if deviation recurs, contact KUKA support with detailed error logs

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