What causes KUKA Robot alarm KRC0246?

Cartesian path planning moving through or near a robot singularity causing joint acceleration spikes. Programmed acceleration ramp rate set higher than the joint motor and controller can sustain. Rapid tool reorientation commands requiring excessive joint acceleration in joint space. TCP velocity too high combined with small Cartesian path radius causing centripetal acceleration demands. Motion parameter override settings on KUKA smartPAD exceeding joint acceleration hardware limits.

How do I fix KUKA Robot alarm KRC0246?

1. Verify the current motion parameters in the program by examining the ACC and RAMP values in KRL code 2. Use WorkVisual to check the maximum permissible acceleration limits for each affected joint 3. Reduce the programmed acceleration parameter by 15-25 percent and retest the motion profile 4. Modify the Cartesian path in the program to avoid singularities by adding intermediate interpolation points 5. Lower the TCP velocity setpoint and increase motion blending time to reduce acceleration demand 6. Enable KRC4 motion monitoring diagnostics to identify which specific joint is exceeding limits during execution

KUKA Robot codes

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KUKA Robot Controller

Servo/Axis · Advanced

Alarm KRC0246

KUKA Robot KRC0246 - COMMAND ACCELERATION EXCEEDED <axis number>

The robot has attempted to execute a command acceleration that exceeds the maximum permissible rate defined in the axis specifications. This commonly occurs during Cartesian motions through kinematic singularities where joint accelerations become excessive.

KUKA RobotServo/AxisAdvanced

KRC0246

KUKA Robot KRC0246 - COMMAND ACCELERATION EXCEEDED <axis number>

COMMAND ACCELERATION EXCEEDED <axis number>

Common Causes

Cartesian path planning moving through or near a robot singularity causing joint acceleration spikes
Programmed acceleration ramp rate set higher than the joint motor and controller can sustain
Rapid tool reorientation commands requiring excessive joint acceleration in joint space
TCP velocity too high combined with small Cartesian path radius causing centripetal acceleration demands
Motion parameter override settings on KUKA smartPAD exceeding joint acceleration hardware limits

Troubleshooting Steps

1Verify the current motion parameters in the program by examining the ACC and RAMP values in KRL code
2Use WorkVisual to check the maximum permissible acceleration limits for each affected joint
3Reduce the programmed acceleration parameter by 15-25 percent and retest the motion profile
4Modify the Cartesian path in the program to avoid singularities by adding intermediate interpolation points
5Lower the TCP velocity setpoint and increase motion blending time to reduce acceleration demand
6Enable KRC4 motion monitoring diagnostics to identify which specific joint is exceeding limits during execution

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