What causes KUKA Robot alarm KRC0291?

Mechanical obstruction or collision preventing axis movement. Worn or damaged bearings causing friction and resistance. Gear train or transmission blockage or damage. Motor shaft binding or coupling misalignment. Brake malfunction or insufficient brake release on the axis.

How do I fix KUKA Robot alarm KRC0291?

1. Power down the robot and verify safe state before proceeding with any investigation 2. Manually attempt to move the affected axis by hand to identify mechanical resistance or binding 3. Visually inspect the axis for visible obstruction, collision damage, or material entanglement 4. Check encoder feedback values in the controller diagnostics to confirm motor position sensing is functioning 5. If no obstruction is found, perform a motor commutation test and verify DSE parameter settings match the axis configuration 6. Clear the alarm and perform a controlled slow-motion teach cycle on the affected axis while monitoring current values; if alarm recurs, service or replace the motor and associated mechanical components

KUKA Robot codes

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KUKA Robot Controller

Servo/Axis · Basic

Alarm KRC0291

KUKA Robot KRC0291 - ACKN. MOTOR BLOCKED <axis number>

This alarm indicates that the motor current (I*t) monitoring circuit has detected a blocked or jammed motor on the specified axis, triggered by the DSE (Drive Safety Electronics) module. The motor is unable to move freely, causing excessive current draw that exceeds safe operating thresholds and activates the thermal protection mechanism.

KUKA RobotServo/AxisBasic

KRC0291

KUKA Robot KRC0291 - ACKN. MOTOR BLOCKED <axis number>

ACKN. MOTOR BLOCKED <axis number>

Common Causes

Mechanical obstruction or collision preventing axis movement
Worn or damaged bearings causing friction and resistance
Gear train or transmission blockage or damage
Motor shaft binding or coupling misalignment
Brake malfunction or insufficient brake release on the axis

Troubleshooting Steps

1Power down the robot and verify safe state before proceeding with any investigation
2Manually attempt to move the affected axis by hand to identify mechanical resistance or binding
3Visually inspect the axis for visible obstruction, collision damage, or material entanglement
4Check encoder feedback values in the controller diagnostics to confirm motor position sensing is functioning
5If no obstruction is found, perform a motor commutation test and verify DSE parameter settings match the axis configuration
6Clear the alarm and perform a controlled slow-motion teach cycle on the affected axis while monitoring current values; if alarm recurs, service or replace the motor and associated mechanical components

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