What causes KUKA Robot alarm KRC0313?

Broken or loose encoder cable connection on the auxiliary axis. Communication failure between the KRC controller and auxiliary axis drive unit. Safety chain circuit open or interrupted on the auxiliary axis. Auxiliary axis drive unit power loss or emergency stop activation. Software configuration mismatch or missing auxiliary axis coupling parameters in the robot program.

How do I fix KUKA Robot alarm KRC0313?

1. Verify that the auxiliary axis drive unit is powered on and receiving 24V control signal from the KRC controller 2. Inspect and reseat all encoder cables, connector plugs, and communication cables connected to the auxiliary axis hardware 3. Check the safety circuit continuity for the auxiliary axis by testing the safety relays and e-stop chain in the control cabinet 4. Review the program code and confirm that the auxiliary axis is properly initialized with DECOUPLED(FALSE) command or equivalent axis coupling function before any movement commands 5. Use the KRC teach pendant diagnostic menus to verify encoder feedback is being received and synchronized from the auxiliary axis 6. If using an external axis interface module, perform a full power cycle of the controller and auxiliary drive unit, then re-establish the coupling sequence

KUKA Robot codes

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KUKA Robot Controller

Servo/Axis · Basic

Alarm KRC0313

KUKA Robot KRC0313 - <axis> DECOUPLED AUXILIARY AXIS, MOVE NOT PERMITTED

This alarm indicates that an auxiliary axis (external axis) has become decoupled or lost synchronization with the main robot controller, preventing any movement commands from being executed on that axis. The decoupling typically occurs due to communication loss, safety circuit interruption, or encoder feedback failure, requiring the axis to be re-coupled before operation can resume.

KUKA RobotServo/AxisBasic

KRC0313

KUKA Robot KRC0313 - <axis> DECOUPLED AUXILIARY AXIS, MOVE NOT PERMITTED

<axis> DECOUPLED AUXILIARY AXIS, MOVE NOT PERMITTED

Common Causes

Broken or loose encoder cable connection on the auxiliary axis
Communication failure between the KRC controller and auxiliary axis drive unit
Safety chain circuit open or interrupted on the auxiliary axis
Auxiliary axis drive unit power loss or emergency stop activation
Software configuration mismatch or missing auxiliary axis coupling parameters in the robot program

Troubleshooting Steps

1Verify that the auxiliary axis drive unit is powered on and receiving 24V control signal from the KRC controller
2Inspect and reseat all encoder cables, connector plugs, and communication cables connected to the auxiliary axis hardware
3Check the safety circuit continuity for the auxiliary axis by testing the safety relays and e-stop chain in the control cabinet
4Review the program code and confirm that the auxiliary axis is properly initialized with DECOUPLED(FALSE) command or equivalent axis coupling function before any movement commands
5Use the KRC teach pendant diagnostic menus to verify encoder feedback is being received and synchronized from the auxiliary axis
6If using an external axis interface module, perform a full power cycle of the controller and auxiliary drive unit, then re-establish the coupling sequence

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