KUKA Robot codes
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KUKA Robot Controller

Servo/Axis · Basic

Alarm KRC0214

KUKA Robot KRC0214 - SERVO INDEPENDENT COMMAND EXECUTION

This alarm indicates that the servo drive has detected an independent command execution state, meaning the axis is receiving or executing commands outside of the normal synchronized motion control framework. This typically occurs when there is a communication breakdown between the KRC controller and the servo drive, or when the servo drive detects conflicting command sources that could lead to unintended axis motion.

KUKA RobotServo/AxisBasic

KRC0214

KUKA Robot KRC0214 - SERVO INDEPENDENT COMMAND EXECUTION

SERVO INDEPENDENT COMMAND EXECUTION

This alarm indicates that the servo drive has detected an independent command execution state, meaning the axis is receiving or executing commands outside of the normal synchronized motion control framework. This typically occurs when there is a communication breakdown between the KRC controller and the servo drive, or when the servo drive detects conflicting command sources that could lead to unintended axis motion.

Common Causes

  • Corrupted or interrupted communication between KRC controller and servo drive module
  • Servo drive firmware corruption or version mismatch with controller software
  • Faulty or loose connection in the servo feedback cable or command signal lines
  • Multiple command sources detected (safety module and main controller issuing simultaneous commands)
  • Servo drive internal error causing it to operate independently of controller synchronization

Troubleshooting Steps

  1. 1Power cycle the robot controller and servo drives using the main disconnect switch, waiting 30 seconds before restart
  2. 2Inspect all servo drive connectors, encoder cables, and command signal lines for loose connections or physical damage and reseat firmly
  3. 3Verify servo drive firmware version matches the KRC controller software version through the diagnostic panel
  4. 4Access the KRC diagnostic menu and perform a servo drive reset and re-initialization sequence
  5. 5Check the axis configuration file in the robot's project folder for correct servo drive parameters and communication settings
  6. 6If alarm persists, replace the suspected faulty servo drive module and verify proper synchronization with the controller before resuming operation

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