KUKA Robot codes
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KUKA Robot Controller

Servo/Axis · Advanced

Alarm KRC0253

KUKA Robot KRC0253 - DYNAMIC BRAKING ERROR <axis number>

The axis velocity is not decreasing as expected even though a braking ramp with defined deceleration command values has been active. This indicates the motor is not responding properly to the braking command, or mechanical friction has decreased unexpectedly, preventing normal dynamic braking performance.

KUKA RobotServo/AxisAdvanced

KRC0253

KUKA Robot KRC0253 - DYNAMIC BRAKING ERROR <axis number>

DYNAMIC BRAKING ERROR <axis number>

The axis velocity is not decreasing as expected even though a braking ramp with defined deceleration command values has been active. This indicates the motor is not responding properly to the braking command, or mechanical friction has decreased unexpectedly, preventing normal dynamic braking performance.

Common Causes

  • Brake solenoid failure or loss of electrical power to the holding brake preventing engagement during deceleration
  • Motor back-EMF (electromotive force) too low due to encoder signal loss or motor winding short circuit
  • Braking resistor disconnected or failed in the power electronics, preventing regenerative braking energy dissipation
  • Mechanical freewheeling or low friction condition in the joint allowing axis to coast without resistance
  • Servo amplifier malfunction preventing proper PWM (pulse width modulation) signal generation for braking torque

Troubleshooting Steps

  1. 1Check brake solenoid electrical connections and power supply voltage at the axis brake connector on the control cabinet
  2. 2Verify motor encoder signal using WorkVisual diagnostic tools to confirm back-EMF feedback is present during motion
  3. 3Manually decelerate the axis using gravity alone (for vertical axes) to identify if mechanical friction has changed
  4. 4Inspect power electronics module and braking resistor for visible damage, corrosion, or disconnected terminals
  5. 5Execute axis self-test diagnostics in WorkVisual to verify servo amplifier PWM output and brake valve operation
  6. 6If brake or motor failure is confirmed, contact KUKA service for component replacement and full axis test validation

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