KUKA Robot codes
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KUKA Robot Controller

Servo/Axis · Intermediate

Alarm KRC0272

KUKA Robot KRC0272 - MASTERING PERFORMED <axis number>

This alarm indicates that a mastering operation was attempted on a robot axis that has already been successfully mastered and calibrated. The KUKA KRC controller prevents re-mastering of axes that are currently in a mastered state to maintain system integrity and avoid loss of calibration data. This safety feature protects the robot's kinematic accuracy and position reference frame.

KUKA RobotServo/AxisIntermediate

KRC0272

KUKA Robot KRC0272 - MASTERING PERFORMED <axis number>

MASTERING PERFORMED <axis number>

This alarm indicates that a mastering operation was attempted on a robot axis that has already been successfully mastered and calibrated. The KUKA KRC controller prevents re-mastering of axes that are currently in a mastered state to maintain system integrity and avoid loss of calibration data. This safety feature protects the robot's kinematic accuracy and position reference frame.

Common Causes

  • Operator accidentally triggered mastering routine on an already-mastered axis
  • Mastering program or script executed multiple times without clearing previous mastering state
  • Automatic mastering sequence ran when axis was already in mastered condition
  • User confusion about current mastering status of individual axes
  • Defective mastering button or input signal stuck in active state

Troubleshooting Steps

  1. 1Verify the current mastering status of all robot axes using the Teaching Pendant diagnostics or Mastering page in the KRC interface
  2. 2Check the axis reference marks and home position sensors to confirm the axis is properly calibrated
  3. 3Clear the mastering state if necessary by performing an unmastering operation on the specific axis through the operator menu
  4. 4Review the active mastering program or teach file to ensure mastering operations are conditional and not executed repeatedly
  5. 5Perform a controlled mastering operation on unmastered axes only, following the standard mastering procedure for your specific robot model
  6. 6If the alarm persists, perform a system restart and verify encoder readings and limit switch functionality for the affected axis

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