KUKA Robot codes
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KUKA Robot Controller

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Alarm KRC0320

KUKA Robot KRC0320 - Ackn. deviation critical masterslave

This alarm indicates that the positional deviation between a master axis and its slave axis has exceeded the configured upper limit threshold during synchronized motion operation. The master-slave coupling tracks position error continuously, and when this error grows too large, the KRC controller triggers this critical alarm to prevent potential damage or loss of synchronization. This condition typically occurs in applications requiring coordinated dual-axis movement such as gantry systems, dual-gripper operations, or synchronized linear axes.

KUKA RobotSystemAdvanced

KRC0320

KUKA Robot KRC0320 - Ackn. deviation critical masterslave

Ackn. deviation critical masterslave

This alarm indicates that the positional deviation between a master axis and its slave axis has exceeded the configured upper limit threshold during synchronized motion operation. The master-slave coupling tracks position error continuously, and when this error grows too large, the KRC controller triggers this critical alarm to prevent potential damage or loss of synchronization. This condition typically occurs in applications requiring coordinated dual-axis movement such as gantry systems, dual-gripper operations, or synchronized linear axes.

Common Causes

  • Mechanical binding, friction, or resistance in slave axis drive system
  • Load imbalance or unexpected external force applied to slave axis
  • Slave axis servo motor malfunction or encoder signal degradation
  • Deviation limit threshold set too restrictively for application requirements
  • Master axis command velocity or acceleration changes exceed slave axis capability

Troubleshooting Steps

  1. 1Acknowledge alarm and manually verify smooth mechanical operation of both master and slave axes without power to identify binding or friction points
  2. 2Check slave axis encoder feedback signals in the diagnostic menu; verify signal quality and connection integrity
  3. 3Inspect slave axis servo motor parameters and perform a servo tuning diagnostic to confirm motor responsiveness
  4. 4Review and compare the configured deviation limit against typical application requirements; increase limit cautiously if mechanically justified
  5. 5Verify master axis motion profile (velocity, acceleration, jerk) is compatible with slave axis dynamic response capabilities
  6. 6If issue persists, reset slave axis encoder calibration reference point and perform full axis initialization sequence per KUKA documentation

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