What causes KUKA Robot alarm KRC0250?

Velocity or acceleration limited by motion parameters set below what is required to reach position in time. Mechanical obstruction or collision detection preventing the axis from moving toward the target position. Positioning time $TIME_POS configured too short for the distance and velocity combination required. Axis feedback signal degradation or servo performance loss reducing positioning accuracy and speed. Load or payload exceeding the axis rating causing reduced acceleration and extended settling time.

How do I fix KUKA Robot alarm KRC0250?

1. Verify $IN_POS_MA window tolerance and $TIME_POS value are appropriate for application requirements in the KRL program 2. Check motion parameters in the movement instruction (PTP or LIN) to ensure velocity and acceleration are not excessively limited 3. Manually move the axis toward the target position using KUKA smartPAD to verify no mechanical obstruction exists 4. Increase $TIME_POS value incrementally in the KRL program to provide additional settling time 5. Perform encoder reference run using WorkVisual diagnostics to verify axis feedback signal integrity 6. If issue cannot be resolved through parameter adjustment, reduce applied payload or contact KUKA service for axis performance verification

KUKA Robot codes

axismd.ai

KUKA Robot Controller

Servo/Axis · Advanced

Alarm KRC0250

KUKA Robot KRC0250 - POSITIONING MONITOR <axis number>

The axis did not reach the target position within the defined positioning window $IN_POS_MA during the allowed positioning time $TIME_POS. This indicates the axis motion is too slow, the target cannot be physically reached, or excessive system lag is preventing timely positioning.

KUKA RobotServo/AxisAdvanced

KRC0250

KUKA Robot KRC0250 - POSITIONING MONITOR <axis number>

POSITIONING MONITOR <axis number>

Common Causes

Velocity or acceleration limited by motion parameters set below what is required to reach position in time
Mechanical obstruction or collision detection preventing the axis from moving toward the target position
Positioning time $TIME_POS configured too short for the distance and velocity combination required
Axis feedback signal degradation or servo performance loss reducing positioning accuracy and speed
Load or payload exceeding the axis rating causing reduced acceleration and extended settling time

Troubleshooting Steps

1Verify $IN_POS_MA window tolerance and $TIME_POS value are appropriate for application requirements in the KRL program
2Check motion parameters in the movement instruction (PTP or LIN) to ensure velocity and acceleration are not excessively limited
3Manually move the axis toward the target position using KUKA smartPAD to verify no mechanical obstruction exists
4Increase $TIME_POS value incrementally in the KRL program to provide additional settling time
5Perform encoder reference run using WorkVisual diagnostics to verify axis feedback signal integrity
6If issue cannot be resolved through parameter adjustment, reduce applied payload or contact KUKA service for axis performance verification

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