What causes KUKA Robot alarm KRC0316?

Attempting to assign a decoupled auxiliary axis identifier to the $ASYNC_AXIS variable in a motion instruction. Programming error where a decoupled axis is mistakenly included in asynchronous axis declarations or ASYNC functions. Incorrect axis configuration in the robot's system data where an auxiliary axis is defined as both decoupled and eligible for asynchronous motion. Using an axis that was coupled during runtime in a previously asynchronous motion command without proper synchronization. Corrupted or inconsistent axis coupling parameters in the $AXIS_ACT or related system variables.

How do I fix KUKA Robot alarm KRC0316?

1. Verify the axis assignment in your motion program and confirm that $ASYNC_AXIS contains only standard robot axes or properly coupled auxiliary axes, not decoupled auxiliary axes 2. Review the robot's axis configuration in the system data (AXCONF) to ensure decoupled auxiliary axes are not marked as asynchronous-capable 3. Modify the program logic to either remove the decoupled auxiliary axis from asynchronous motion commands or convert it to a coupled axis if synchronous coordination is required 4. Check the axis coupling status using diagnostic commands and confirm all axes involved in ASYNC operations have appropriate coupling parameters enabled 5. Clear the alarm and perform a warm restart of the KRC controller to reset axis state variables and reload configuration parameters 6. If the issue persists, contact KUKA support with system diagnostic data and verify that the robot's firmware version supports your intended asynchronous axis configuration

KUKA Robot codes

axismd.ai

KUKA Robot Controller

Servo/Axis · Basic

Alarm KRC0316

KUKA Robot KRC0316 - VALUE OF $ASYNC_AXIS CONTAINS DECOUPLED AUXILIARY AXIS

This alarm occurs when the $ASYNC_AXIS system variable is assigned or contains a reference to a decoupled auxiliary axis that cannot be processed in asynchronous motion mode. Decoupled auxiliary axes require synchronous coordination with the main robot axes and cannot execute independent asynchronous movements. This condition violates the operational constraints of the asynchronous axis framework in the KRC controller.

KUKA RobotServo/AxisBasic

KRC0316

KUKA Robot KRC0316 - VALUE OF $ASYNC_AXIS CONTAINS DECOUPLED AUXILIARY AXIS

VALUE OF $ASYNC_AXIS CONTAINS DECOUPLED AUXILIARY AXIS

Common Causes

Attempting to assign a decoupled auxiliary axis identifier to the $ASYNC_AXIS variable in a motion instruction
Programming error where a decoupled axis is mistakenly included in asynchronous axis declarations or ASYNC functions
Incorrect axis configuration in the robot's system data where an auxiliary axis is defined as both decoupled and eligible for asynchronous motion
Using an axis that was coupled during runtime in a previously asynchronous motion command without proper synchronization
Corrupted or inconsistent axis coupling parameters in the $AXIS_ACT or related system variables

Troubleshooting Steps

1Verify the axis assignment in your motion program and confirm that $ASYNC_AXIS contains only standard robot axes or properly coupled auxiliary axes, not decoupled auxiliary axes
2Review the robot's axis configuration in the system data (AXCONF) to ensure decoupled auxiliary axes are not marked as asynchronous-capable
3Modify the program logic to either remove the decoupled auxiliary axis from asynchronous motion commands or convert it to a coupled axis if synchronous coordination is required
4Check the axis coupling status using diagnostic commands and confirm all axes involved in ASYNC operations have appropriate coupling parameters enabled
5Clear the alarm and perform a warm restart of the KRC controller to reset axis state variables and reload configuration parameters
6If the issue persists, contact KUKA support with system diagnostic data and verify that the robot's firmware version supports your intended asynchronous axis configuration

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