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KUKA Robot Controller
Servo/Axis · Basic
KUKA Robot KRC0238 - MOTOR HOLDING TORQUE EXCEEDED
The motor holding torque capacity on one or more axes has been exceeded, and the motor cannot maintain the robot in its current stationary position against gravity or external loads. This indicates insufficient motor torque capability for the payload and arm configuration at the stopped position, risking uncontrolled robot drift or collapse.
KRC0238
KUKA Robot KRC0238 - MOTOR HOLDING TORQUE EXCEEDED
MOTOR HOLDING TORQUE EXCEEDED
The motor holding torque capacity on one or more axes has been exceeded, and the motor cannot maintain the robot in its current stationary position against gravity or external loads. This indicates insufficient motor torque capability for the payload and arm configuration at the stopped position, risking uncontrolled robot drift or collapse.
Common Causes
- Payload weight exceeds the rated motor holding torque capacity for the current arm configuration
- Robot positioned with center of mass far from the joint axis, multiplying gravitational moment
- Brake or motor bearing failure reducing available holding torque on the affected axis
- External load or force applied to the end effector during stop state beyond design limits
- Motor parameter tuning incorrect or motor controller gain settings degraded over time
Troubleshooting Steps
- 1Verify the actual payload mass and compare against KUKA robot specification holding torque ratings
- 2Move the robot to a neutral posture where gravitational loads on motors are minimized
- 3Check motor and brake condition using diagnostics in KUKA smartPAD system information screen
- 4Reduce payload mass or reposition the robot to minimize moment arms on loaded axes
- 5Review and recalibrate motor holding torque parameters in the KRC4 controller configuration
- 6Contact KUKA service if motor replacement or brake maintenance is required to restore holding capacity
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