KUKA Robot codes
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KUKA Robot Controller

System · Basic

Alarm KRC0318

KUKA Robot KRC0318 - Ackn. deviation warning masterslave

This alarm indicates that the positional deviation between a master and slave axis configuration has exceeded the lower limit threshold during synchronized motion operations. The alarm requires acknowledgment and typically occurs when slave axis tracking falls below acceptable tolerance parameters relative to the master axis position. This is a warning-level alarm that prevents continued operation until the deviation is corrected and acknowledged.

KUKA RobotSystemBasic

KRC0318

KUKA Robot KRC0318 - Ackn. deviation warning masterslave

Ackn. deviation warning masterslave

This alarm indicates that the positional deviation between a master and slave axis configuration has exceeded the lower limit threshold during synchronized motion operations. The alarm requires acknowledgment and typically occurs when slave axis tracking falls below acceptable tolerance parameters relative to the master axis position. This is a warning-level alarm that prevents continued operation until the deviation is corrected and acknowledged.

Common Causes

  • Mechanical binding or friction in slave axis drivetrain causing lag
  • Insufficient servo gain or tuning parameters for slave axis feedback loop
  • Load imbalance between master and slave axes exceeding design specifications
  • Encoder or feedback sensor malfunction on slave axis providing incorrect position data
  • Wear in gearbox, bearings, or transmission components reducing slave axis responsiveness

Troubleshooting Steps

  1. 1Acknowledge the alarm on the teach pendant and stop current motion operation
  2. 2Verify mechanical condition of slave axis by manual movement testing for binding or excessive friction
  3. 3Check encoder connections and feedback sensor signal integrity for slave axis using diagnostics menu
  4. 4Review and compare servo tuning parameters between master and slave axes in configuration settings
  5. 5Reduce programmed velocity and acceleration rates to verify if deviation decreases at lower speeds
  6. 6If issue persists, perform axis calibration sequence for slave axis and verify load distribution is balanced

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