KUKA Robot codes
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KUKA Robot Controller

System · Basic

Alarm KRC0269

KUKA Robot KRC0269 - WRONG START POSITION

This alarm occurs when the Encoder Mastering Tool (EMT) calibration process initiates from an incorrect position, typically within the mastering groove instead of before it. The mastering sequence requires the reference point to be established before entering the groove to ensure accurate axis calibration and position feedback integrity.

KUKA RobotSystemBasic

KRC0269

KUKA Robot KRC0269 - WRONG START POSITION

WRONG START POSITION

This alarm occurs when the Encoder Mastering Tool (EMT) calibration process initiates from an incorrect position, typically within the mastering groove instead of before it. The mastering sequence requires the reference point to be established before entering the groove to ensure accurate axis calibration and position feedback integrity.

Common Causes

  • Robot axis mechanically positioned inside the mastering groove at startup
  • Incorrect home position configuration in the robot's initialization parameters
  • EMT sensor misalignment or obstruction preventing proper groove detection
  • Previous mastering cycle interrupted or incompletely executed
  • Mechanical drift or slippage of the axis from the correct pre-groove starting position

Troubleshooting Steps

  1. 1Manually jog the affected robot axis to a position clearly before the mastering groove using the teach pendant
  2. 2Verify the mechanical mastering groove is clean and unobstructed, remove any debris or contamination
  3. 3Check EMT sensor alignment and ensure it is positioned correctly relative to the groove reference marks
  4. 4Review and confirm home position offsets in the robot configuration file match the physical setup
  5. 5Execute a full system power cycle and re-initiate the mastering sequence from the corrected pre-groove position
  6. 6If the alarm persists, verify encoder feedback signals using KRC diagnostics and consider EMT sensor replacement if signals are erratic

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