What causes KUKA Robot alarm KRC0280?

Excessive external load or force applied to the robot axis during torque mode operation. Incorrect torque mode parameters or gain settings causing oscillatory motion with high velocity spikes. Inadequate damping or stiffness values in the torque control loop configuration. Mechanical obstruction or collision causing the axis to accelerate beyond limits while maintaining torque setpoint. Faulty or drifting force/torque sensor providing incorrect feedback to the control loop.

How do I fix KUKA Robot alarm KRC0280?

1. Review the KRC program logic and verify that torque mode parameters (setpoint, stiffness, damping) are correctly configured for the application 2. Check the force/torque sensor calibration and zero-point offset; recalibrate if necessary using the KUKA calibration procedure 3. Reduce the torque setpoint value and increase the damping coefficient in the torque control configuration to stabilize the control loop 4. Inspect the mechanical system for obstructions, binding, or excessive friction that could cause uncontrolled acceleration 5. Monitor real-time axis velocity and torque values using the KUKA teach pendant diagnostics to identify which axis is affected and observe motion behavior 6. If the issue persists, reduce the maximum velocity limit for the affected axis in the robot configuration (Descr. tab or Axis settings) and re-test the torque mode operation

KUKA Robot codes

axismd.ai

KUKA Robot Controller

Servo/Axis · Intermediate

Alarm KRC0280

KUKA Robot KRC0280 - TORQUE MODE VELOCITY LIMIT EXCEEDED <axis>

This alarm indicates that the specified axis has exceeded its maximum velocity limit while operating in torque control mode (also known as force control mode). In torque mode, the robot controller regulates force/torque output rather than position, but velocity constraints still apply to prevent mechanical damage and ensure safe operation. When the axis velocity surpasses the configured threshold, the controller triggers this safety alarm and halts motion.

KUKA RobotServo/AxisIntermediate

KRC0280

KUKA Robot KRC0280 - TORQUE MODE VELOCITY LIMIT EXCEEDED <axis>

TORQUE MODE VELOCITY LIMIT EXCEEDED <axis>

Common Causes

Excessive external load or force applied to the robot axis during torque mode operation
Incorrect torque mode parameters or gain settings causing oscillatory motion with high velocity spikes
Inadequate damping or stiffness values in the torque control loop configuration
Mechanical obstruction or collision causing the axis to accelerate beyond limits while maintaining torque setpoint
Faulty or drifting force/torque sensor providing incorrect feedback to the control loop

Troubleshooting Steps

1Review the KRC program logic and verify that torque mode parameters (setpoint, stiffness, damping) are correctly configured for the application
2Check the force/torque sensor calibration and zero-point offset; recalibrate if necessary using the KUKA calibration procedure
3Reduce the torque setpoint value and increase the damping coefficient in the torque control configuration to stabilize the control loop
4Inspect the mechanical system for obstructions, binding, or excessive friction that could cause uncontrolled acceleration
5Monitor real-time axis velocity and torque values using the KUKA teach pendant diagnostics to identify which axis is affected and observe motion behavior
6If the issue persists, reduce the maximum velocity limit for the affected axis in the robot configuration (Descr. tab or Axis settings) and re-test the torque mode operation

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