KRC0312

Common Causes

• Mechanical coupling failure or wear in the auxiliary axis drive train
• Loss of encoder feedback or encoder cable disconnection on the auxiliary axis
• Incorrect axis configuration or missing auxiliary axis declaration in the robot program
• Drive electronics failure or power loss to the auxiliary axis servo amplifier
• Collision or impact causing the auxiliary axis to slip or lose synchronization with the main axes

Troubleshooting Steps

1. 1Stop the robot immediately and verify the physical position of the auxiliary axis matches the expected location
2. 2Visually inspect the mechanical coupling, shaft connections, and transmission components for signs of wear, damage, or slippage
3. 3Check encoder cable connections and perform a continuity test on the auxiliary axis feedback signal cables
4. 4Verify in the KRC controller configuration and program that the auxiliary axis is properly declared and enabled in the axis data
5. 5Power cycle the robot controller and check if the auxiliary axis servo amplifier initializes correctly during boot-up
6. 6If the alarm persists, use the KUKA diagnostic interface to verify encoder feedback values and servo loop response for the auxiliary axis