KUKA Robot codes
AxisMD

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KUKA Robot Controller

Servo/Axis · Basic

Alarm KRC0216

KUKA Robot KRC0216 - SERVO INDEPENDENT COMMAND EXECUTION ONLY POSSIBLE IN TESTING MODE

This alarm occurs when attempting to execute servo-independent commands (such as direct axis movements or manual jog commands) while the robot controller is operating in automatic (#AUT) or external (#EXT) mode rather than testing/manual mode. The KRC controller restricts certain diagnostic and testing commands to prevent unintended robot motion during production operations. Robot simulation features are also disabled in these operational modes for safety compliance.

KUKA RobotServo/AxisBasic

KRC0216

KUKA Robot KRC0216 - SERVO INDEPENDENT COMMAND EXECUTION ONLY POSSIBLE IN TESTING MODE

SERVO INDEPENDENT COMMAND EXECUTION ONLY POSSIBLE IN TESTING MODE

This alarm occurs when attempting to execute servo-independent commands (such as direct axis movements or manual jog commands) while the robot controller is operating in automatic (#AUT) or external (#EXT) mode rather than testing/manual mode. The KRC controller restricts certain diagnostic and testing commands to prevent unintended robot motion during production operations. Robot simulation features are also disabled in these operational modes for safety compliance.

Common Causes

  • Attempting to execute jog commands or manual axis movements while in #AUT (automatic) mode
  • Trying to run diagnostic servo commands while in #EXT (external) mode
  • Activating robot simulation or teach pendant control in production operating modes
  • Using KRC command scripts or manual interventions designed for testing mode during active production
  • Incorrect mode selection or incomplete mode transition on the teach pendant

Troubleshooting Steps

  1. 1Switch the robot controller to #T (Testing) mode using the mode selector switch on the teach pendant
  2. 2Verify the current operating mode is displayed correctly on the KRC controller display or teach pendant screen
  3. 3Clear the alarm using the acknowledge button on the teach pendant once switched to Testing mode
  4. 4Confirm the servo-independent command or simulation function is appropriate for your current maintenance or diagnostic task
  5. 5If operating mode cannot be changed, verify teach pendant key switch is in correct position and system is not in restricted access mode
  6. 6If alarm persists, restart the KRC controller and reinitialize the robot system, then retry the operation in Testing mode

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