KUKA Robot codes
AxisMD

axismd.ai

KUKA Robot Controller

Servo/Axis · Intermediate

Alarm KRC0241

KUKA Robot KRC0241 - COMMANDED MOTOR TORQUE

This alarm indicates that the commanded motor torque for one or more robot axes has exceeded the permissible limit defined in the dynamic data parameters ($DYN_DAT). The KRC controller monitors actual torque output and triggers this alarm as a protective measure to prevent mechanical overload, motor damage, or loss of control authority.

KUKA RobotServo/AxisIntermediate

KRC0241

KUKA Robot KRC0241 - COMMANDED MOTOR TORQUE

COMMANDED MOTOR TORQUE

This alarm indicates that the commanded motor torque for one or more robot axes has exceeded the permissible limit defined in the dynamic data parameters ($DYN_DAT). The KRC controller monitors actual torque output and triggers this alarm as a protective measure to prevent mechanical overload, motor damage, or loss of control authority.

Common Causes

  • Incorrect dynamic data configuration or $DYN_DAT parameters set too low for the programmed motion
  • Excessive acceleration or deceleration rates in the motion program exceeding motor capability
  • Heavy payload not properly configured in the robot's mass and inertia parameters
  • Mechanical friction, joint stiffness, or bearing wear increasing torque requirements
  • Collision or external force acting on the robot during motion execution

Troubleshooting Steps

  1. 1Stop the robot immediately and verify no external load or collision is present on the affected axis
  2. 2Check the payload configuration in the robot data ($LOAD) and confirm it matches the actual load mass and center of gravity
  3. 3Review and adjust the dynamic data parameters ($DYN_DAT) including acceleration, deceleration, and jerk limits to appropriate values for your payload
  4. 4Examine the motion program for excessive velocity or acceleration commands and reduce them if necessary
  5. 5Perform a mechanical inspection of the affected axis for signs of friction, worn bearings, or mechanical resistance
  6. 6If changes were made to dynamic data, reload the configuration and test with reduced speed override (30-50%) before returning to full speed operation

Seeing Multiple Alarms?

Seeing another alarm with this one? Enter the code.

Get machine-aware diagnosis

AxisMD logs alarms against your actual machines, tracks patterns, and gives AI context your manual doesn't have.

Start free

Was this guide helpful?

Always verify with your machine manual or a certified technician before performing service procedures.