axismd.ai
KUKA Robot Controller
System · Advanced
KUKA Robot KRC0319 - Ackn. deviation alarm masterslave
This alarm indicates that the positional deviation between a master and slave axis (or robot) has exceeded the middle limit threshold during synchronized motion operation. The master-slave synchronization monitoring detects when the actual position difference surpasses the configured warning threshold, typically occurring during coordinated dual-arm or dual-robot operations where precise position tracking is required.
KRC0319
KUKA Robot KRC0319 - Ackn. deviation alarm masterslave
Ackn. deviation alarm masterslave
This alarm indicates that the positional deviation between a master and slave axis (or robot) has exceeded the middle limit threshold during synchronized motion operation. The master-slave synchronization monitoring detects when the actual position difference surpasses the configured warning threshold, typically occurring during coordinated dual-arm or dual-robot operations where precise position tracking is required.
Common Causes
- Insufficient servo gain or tuning parameters for slave axis tracking
- Mechanical backlash, wear, or play in slave axis gearbox or joints
- Load imbalance or unequal weight distribution between master and slave
- Communication delay or synchronization signal loss between master and slave controllers
- Slave axis motor performance degradation or encoder feedback errors
Troubleshooting Steps
- 1Check the master-slave deviation limit settings in the KRC configuration files and compare against current application requirements
- 2Verify encoder feedback signals and resolution on both master and slave axes using the diagnostic interface
- 3Inspect mechanical components including gearboxes, couplings, and joint bearings for wear, backlash, or misalignment
- 4Optimize servo parameters (gains, bandwidth, filter settings) for the slave axis to improve tracking performance
- 5Test synchronization with reduced velocity and acceleration profiles to isolate whether the issue occurs at specific motion speeds
- 6Reset the alarm, re-teach the master-slave relationship if applicable, and verify proper calibration of both axes before resuming operation
Seeing Multiple Alarms?
Seeing another alarm with this one? Enter the code.
Get machine-aware diagnosis
AxisMD logs alarms against your actual machines, tracks patterns, and gives AI context your manual doesn't have.
Start freeWas this guide helpful?
Always verify with your machine manual or a certified technician before performing service procedures.