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KUKA Robot Controller
Servo/Axis · Basic
KUKA Robot KRC0276 - ACKN. TORQUE EXCEEDED <axis>
This alarm indicates that the actual motor torque on the specified axis has exceeded the configured monitoring threshold during acknowledgment phase, meaning the measured torque deviates beyond the acceptable tolerance window. This typically occurs when the robot attempts to move an axis but encounters unexpected resistance or load that generates torque outside the pre-defined limits, triggering a safety halt to prevent damage to the mechanical structure or motor.
KRC0276
KUKA Robot KRC0276 - ACKN. TORQUE EXCEEDED <axis>
ACKN. TORQUE EXCEEDED <axis>
This alarm indicates that the actual motor torque on the specified axis has exceeded the configured monitoring threshold during acknowledgment phase, meaning the measured torque deviates beyond the acceptable tolerance window. This typically occurs when the robot attempts to move an axis but encounters unexpected resistance or load that generates torque outside the pre-defined limits, triggering a safety halt to prevent damage to the mechanical structure or motor.
Common Causes
- Mechanical obstruction or collision preventing normal axis movement
- Incorrect load mass or center of gravity configuration in the robot's data
- Worn or damaged mechanical components such as bearings, gears, or transmission elements
- Calibration error in the torque monitoring parameters or axis offset values
- Motor or encoder fault causing incorrect torque feedback signal to the controller
Troubleshooting Steps
- 1Check for any physical obstructions, cable tangles, or collisions blocking the affected axis from moving freely
- 2Verify the payload configuration in the robot's system data matches the actual mounted tool or workpiece weight and center of gravity
- 3Manually move the affected axis slowly through its range of motion to identify any resistance points or mechanical binding
- 4Review and recalibrate the torque monitoring threshold values in the KRC controller settings if they have been recently changed
- 5Perform an axis home/reference cycle (Achsen fahren) to ensure proper encoder alignment and baseline torque calibration
- 6If the alarm persists, check motor and encoder connectors for loose contacts, and if necessary, replace the motor or servo amplifier module for that axis
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