What causes KUKA Robot alarm KRC0287?

Excessive load or payload mismatch compared to programmed values. Joint friction, backlash, or wear in mechanical drive components. Servo tuning parameters (P, I, D gains) set incorrectly for the axis. Encoder or feedback sensor malfunction or miscalibration. Insufficient acceleration/deceleration time or velocity profiles set too aggressively.

How do I fix KUKA Robot alarm KRC0287?

1. Check the actual robot payload against the programmed payload in the $LOAD parameter and recalibrate if necessary 2. Verify encoder values and perform a robot calibration (CALIBRATE) if encoder drift is suspected 3. Review the motion instruction parameters - increase acceleration/deceleration time or reduce velocity for the affected motion 4. Inspect mechanical components (gears, bearings, cable drives) for wear, damage, or excessive backlash 5. Access the axis-specific servo parameters in the controller and verify PID tuning is appropriate; adjust gains if needed after consulting KUKA specifications 6. If persistent, perform a full robot diagnostics check and contact KUKA service if hardware failure is suspected

KUKA Robot codes

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KUKA Robot Controller

System · Intermediate

Alarm KRC0287

KUKA Robot KRC0287 - DEVIATION AT TARGET POINT

This alarm indicates that the robot failed to reach the programmed target point within the specified tolerance window during an exact stop (PTP or LIN motion with exact stop flag). The deviation exceeds the acceptable threshold defined in the motion parameters, typically caused by axis lag, tracking errors, or mechanical issues that prevent precise positioning.

KUKA RobotSystemIntermediate

KRC0287

KUKA Robot KRC0287 - DEVIATION AT TARGET POINT

DEVIATION AT TARGET POINT

Common Causes

Excessive load or payload mismatch compared to programmed values
Joint friction, backlash, or wear in mechanical drive components
Servo tuning parameters (P, I, D gains) set incorrectly for the axis
Encoder or feedback sensor malfunction or miscalibration
Insufficient acceleration/deceleration time or velocity profiles set too aggressively

Troubleshooting Steps

1Check the actual robot payload against the programmed payload in the $LOAD parameter and recalibrate if necessary
2Verify encoder values and perform a robot calibration (CALIBRATE) if encoder drift is suspected
3Review the motion instruction parameters - increase acceleration/deceleration time or reduce velocity for the affected motion
4Inspect mechanical components (gears, bearings, cable drives) for wear, damage, or excessive backlash
5Access the axis-specific servo parameters in the controller and verify PID tuning is appropriate; adjust gains if needed after consulting KUKA specifications
6If persistent, perform a full robot diagnostics check and contact KUKA service if hardware failure is suspected

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