KUKA Robot codes
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KUKA Robot Controller

System · Basic

Alarm KRC0306

KUKA Robot KRC0306 - ACKN MONITORING OF THE ACTUAL VELOCITY **

This alarm indicates a fault in the velocity monitoring acknowledgment circuit of the KUKA KRC control loop, meaning the controller cannot properly verify that the actual joint velocity matches the commanded velocity within acceptable tolerances. The robot's safety system has detected a discrepancy between expected and measured velocity feedback, which prevents normal axis operation.

KUKA RobotSystemBasic

KRC0306

KUKA Robot KRC0306 - ACKN MONITORING OF THE ACTUAL VELOCITY **

ACKN MONITORING OF THE ACTUAL VELOCITY **

This alarm indicates a fault in the velocity monitoring acknowledgment circuit of the KUKA KRC control loop, meaning the controller cannot properly verify that the actual joint velocity matches the commanded velocity within acceptable tolerances. The robot's safety system has detected a discrepancy between expected and measured velocity feedback, which prevents normal axis operation.

Common Causes

  • Faulty or disconnected encoder feedback cable on the affected joint
  • Encoder malfunction or degraded encoder signal quality
  • Drive amplifier failure or incorrect gain settings
  • Corrupted or misaligned encoder calibration data
  • Mechanical binding, friction, or load issues preventing expected acceleration/deceleration

Troubleshooting Steps

  1. 1Check the encoder connector and cable integrity on the affected axis for loose connections or visible damage
  2. 2Verify encoder signal quality using the KRC diagnostic tools and oscilloscope if available
  3. 3Inspect the drive amplifier parameters and ensure gain settings match the current axis configuration
  4. 4Perform an axis-specific encoder recalibration procedure through the KRC teach pendant if applicable
  5. 5Check for mechanical obstructions, excessive friction, or load conditions that may prevent proper velocity response
  6. 6If the fault persists after verification steps, replace the encoder module or drive amplifier and re-perform system commissioning

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