What causes KUKA Robot alarm KRC0247?

Cartesian motion trajectory passing through or near a robot singularity point causing infinite joint velocity. Programmed tool velocity in Cartesian mode set higher than achievable in the current workspace region. Joint velocity override on KUKA smartPAD set to 100 percent with insufficient acceleration time. Rapid axis repositioning without proper velocity scaling in the motion segment. Machine data joint velocity limits set below the actual kinematic capability of the mechanism.

How do I fix KUKA Robot alarm KRC0247?

1. Review the motion command velocity in the KRL program using the KUKA smartPAD program editor 2. Reduce the Cartesian TCP velocity setpoint by 20-30 percent and retry the motion 3. Analyze the workspace geometry and modify the motion path to maintain a minimum distance from singularities 4. Verify the joint velocity limits in machine data match the servo motor and gearbox specifications 5. Enable velocity ramp limiting by adjusting acceleration parameters to smooth out velocity transitions 6. Run the motion test at reduced override percentages and gradually increase only after confirming stability

KUKA Robot codes

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KUKA Robot Controller

Servo/Axis · Advanced

Alarm KRC0247

KUKA Robot KRC0247 - COMMAND VELOCITY EXCEEDED <axis number>

The robot has exceeded the maximum permissible command velocity for an axis during program execution. This safety alarm typically occurs when Cartesian motions pass through kinematic singularities, causing joint velocities to spike beyond hardware specifications.

KUKA RobotServo/AxisAdvanced

KRC0247

KUKA Robot KRC0247 - COMMAND VELOCITY EXCEEDED <axis number>

COMMAND VELOCITY EXCEEDED <axis number>

Common Causes

Cartesian motion trajectory passing through or near a robot singularity point causing infinite joint velocity
Programmed tool velocity in Cartesian mode set higher than achievable in the current workspace region
Joint velocity override on KUKA smartPAD set to 100 percent with insufficient acceleration time
Rapid axis repositioning without proper velocity scaling in the motion segment
Machine data joint velocity limits set below the actual kinematic capability of the mechanism

Troubleshooting Steps

1Review the motion command velocity in the KRL program using the KUKA smartPAD program editor
2Reduce the Cartesian TCP velocity setpoint by 20-30 percent and retry the motion
3Analyze the workspace geometry and modify the motion path to maintain a minimum distance from singularities
4Verify the joint velocity limits in machine data match the servo motor and gearbox specifications
5Enable velocity ramp limiting by adjusting acceleration parameters to smooth out velocity transitions
6Run the motion test at reduced override percentages and gradually increase only after confirming stability

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