What causes KUKA Robot alarm KRC0148?

Machine data parameters for axis-specific software limits ($ROBCOR_ACT or $SW_LIMIT) are set incorrectly or too restrictive for the application. TCP offset or TOOL definition error causing calculated axis positions to exceed limits even when TCP appears within workspace. External axis or positioner with incorrect working range configured in $ET_SWLIMIT machine data arrays. Program commanded position near workspace boundary combined with configuration change (shoulder/elbow flip) pushing axis past limit. Collision or mechanical obstruction preventing intended motion path forcing alternative joint solution that violates single-axis range.

How do I fix KUKA Robot alarm KRC0148?

1. Step 1: Identify which axis violated limit from alarm detail message (A1-A6 or E1-E6) and note current axis position from smartPAD status display 2. Step 2: Jog robot in T1 mode away from violated limit using axis-specific keys and verify mechanical clearance in that direction 3. Step 3: Navigate to Display > Variable > Single and check $SW_LIMIT array for the affected axis to verify configured min/max values are appropriate 4. Step 4: Review TOOL and BASE active assignments to ensure offsets are not creating excessive lever arm causing axis overtravel during Cartesian motion 5. Step 5: Use Display > Geometry or inline form display to analyze motion path and check for configuration switches (Status/Turn) forcing unintended axis rotation 6. Step 6: Modify software limits in WorkVisual under Machine Data > Common > Motion if current limits are confirmed too restrictive, then reload project and revalidate motion envelope

KUKA Robot codes

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KUKA Robot Controller

Power Supply · Intermediate

Alarm KRC0148

KUKA Robot KRC0148 - Axis-Specific Working Envelope Violated

This alarm is triggered when the robot attempts to move one or more axes beyond the software-defined working envelope limits configured for individual axis ranges. Unlike general workspace violations, this specifically monitors single-axis position limits defined in machine data rather than Cartesian space boundaries. Motion is immediately halted to prevent mechanical damage or collision.

KUKA RobotPower SupplyIntermediate

KRC0148

KUKA Robot KRC0148 - Axis-Specific Working Envelope Violated

Axis-Specific Working Envelope Violated

Common Causes

Machine data parameters for axis-specific software limits ($ROBCOR_ACT or $SW_LIMIT) are set incorrectly or too restrictive for the application
TCP offset or TOOL definition error causing calculated axis positions to exceed limits even when TCP appears within workspace
External axis or positioner with incorrect working range configured in $ET_SWLIMIT machine data arrays
Program commanded position near workspace boundary combined with configuration change (shoulder/elbow flip) pushing axis past limit
Collision or mechanical obstruction preventing intended motion path forcing alternative joint solution that violates single-axis range

Troubleshooting Steps

1Step 1: Identify which axis violated limit from alarm detail message (A1-A6 or E1-E6) and note current axis position from smartPAD status display
2Step 2: Jog robot in T1 mode away from violated limit using axis-specific keys and verify mechanical clearance in that direction
3Step 3: Navigate to Display > Variable > Single and check $SW_LIMIT array for the affected axis to verify configured min/max values are appropriate
4Step 4: Review TOOL and BASE active assignments to ensure offsets are not creating excessive lever arm causing axis overtravel during Cartesian motion
5Step 5: Use Display > Geometry or inline form display to analyze motion path and check for configuration switches (Status/Turn) forcing unintended axis rotation
6Step 6: Modify software limits in WorkVisual under Machine Data > Common > Motion if current limits are confirmed too restrictive, then reload project and revalidate motion envelope

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