KUKA Robot codes
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KUKA Robot Controller

System · Intermediate

Alarm KRC0240

KUKA Robot KRC0240 - COMMANDED GEAR TORQUE

This alarm indicates that the commanded torque applied to one or more robot joints has exceeded the permissible gear torque limits defined in the dynamic data parameters ($DYN_DAT). The alarm is a protective mechanism that prevents mechanical damage to the gearbox and drive train by halting motion when torque thresholds are violated.

KUKA RobotSystemIntermediate

KRC0240

KUKA Robot KRC0240 - COMMANDED GEAR TORQUE

COMMANDED GEAR TORQUE

This alarm indicates that the commanded torque applied to one or more robot joints has exceeded the permissible gear torque limits defined in the dynamic data parameters ($DYN_DAT). The alarm is a protective mechanism that prevents mechanical damage to the gearbox and drive train by halting motion when torque thresholds are violated.

Common Causes

  • Excessive load on the end effector exceeding robot payload capacity
  • Incorrect or missing dynamic data configuration in $DYN_DAT parameters
  • Motion program commanding rapid acceleration or deceleration beyond gear specifications
  • Mechanical friction or gearbox wear reducing torque capacity over time
  • Axis collision or obstruction forcing the joint to work against resistance

Troubleshooting Steps

  1. 1Verify the actual load weight and center of gravity matches the declared payload in the robot configuration
  2. 2Review and validate the $DYN_DAT dynamic data parameters, ensuring torque limits are correctly set for your robot model
  3. 3Reduce acceleration and deceleration values in the motion program and implement smoother motion profiles
  4. 4Inspect the gearbox, bearings, and mechanical linkages for signs of wear, contamination, or damage requiring maintenance
  5. 5Check the motion path for potential collisions or interference that could cause the arm to work against obstacles
  6. 6If using external axis or synchronized motion, verify that load distribution and motion coordination are properly balanced

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