KUKA Robot codes
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KUKA Robot Controller

Servo/Axis · Basic

Alarm KRC0167

KUKA Robot KRC0167 - PALLETIZING MODE: MOVE AXIS <axis> <motion direction> INTO POSITION

Axes 4 and 5 are configured for palletizing mode ($PAL_MODE = TRUE) but are not positioned at the required angles. The system requires axis 4 at 0 degrees and axis 5 at 90 degrees before palletizing operations can commence. Manual repositioning of these axes is necessary to resolve this alarm condition.

KUKA RobotServo/AxisBasic

KRC0167

KUKA Robot KRC0167 - PALLETIZING MODE: MOVE AXIS <axis> <motion direction> INTO POSITION

PALLETIZING MODE: MOVE AXIS <axis> <motion direction> INTO POSITION

Axes 4 and 5 are configured for palletizing mode ($PAL_MODE = TRUE) but are not positioned at the required angles. The system requires axis 4 at 0 degrees and axis 5 at 90 degrees before palletizing operations can commence. Manual repositioning of these axes is necessary to resolve this alarm condition.

Common Causes

  • Palletizing mode enabled without first moving axes 4 and 5 to home position
  • Robot power cycled or emergency stop triggered while in palletizing mode with non-compliant axis positions
  • Program attempting to activate palletizing mode without prerequisite axis alignment in KRL code
  • Mechanical collision or external force moved axes 4 and 5 away from required palletizing position
  • KUKA smartPAD teach pendant failed to confirm axis positions before enabling $PAL_MODE variable

Troubleshooting Steps

  1. 1Verify current axis positions on the KUKA smartPAD by navigating to Diagnosis > Actual Values menu
  2. 2Manually jog axis 4 to 0 degrees using the teach pendant motion buttons in T1 mode
  3. 3Manually jog axis 5 to 90 degrees using the teach pendant motion buttons in T1 mode
  4. 4Check the KRL program for $PAL_MODE initialization logic and ensure axes are positioned before setting TRUE
  5. 5Review WorkVisual robot configuration and palletizing mode settings in the axis parameter files
  6. 6If alarm persists after positioning, perform a full robot calibration using the reference point procedure in SafeOperation mode

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