What causes KUKA Robot alarm KRC0321?

Excessive load or resistance on the slave axis causing it to lag behind the master. Incorrect master-slave coupling parameters or synchronization gain settings in the robot program. Mechanical issues such as friction, binding, or wear in the slave axis transmission. Communication delays or data transmission errors between master and slave controllers. Insufficient servo loop bandwidth or PID tuning on the slave axis.

How do I fix KUKA Robot alarm KRC0321?

1. Check the KRC program for master-slave coupling declarations and verify the synchronization parameters are appropriate for the application speed and load 2. Inspect the mechanical condition of the slave axis for binding, excessive friction, or component wear that could cause velocity lag 3. Review and adjust the slave axis servo parameters and PID gains in the robot configuration to improve response time and tracking accuracy 4. Verify network communication integrity between master and slave controllers; check for packet loss or latency issues 5. Reduce the programmed motion speed to determine if the deviation is speed-dependent, then gradually increase speed while monitoring synchronization error 6. Reset the alarm, perform a manual jog test of both axes independently to confirm proper operation, then re-execute the synchronized motion sequence

KUKA Robot codes

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KUKA Robot Controller

System · Advanced

Alarm KRC0321

KUKA Robot KRC0321 - Ackn. speed deviation masterslave

This alarm indicates that the speed deviation between a master and slave axis or robot in a synchronized motion application has exceeded the permissible threshold. The parameter specifies which axis pair or device is experiencing the synchronization error. This typically occurs during coordinated multi-robot operations or master-slave coupling where axis velocities must remain within defined tolerance limits.

KUKA RobotSystemAdvanced

KRC0321

KUKA Robot KRC0321 - Ackn. speed deviation masterslave

Ackn. speed deviation masterslave

Common Causes

Excessive load or resistance on the slave axis causing it to lag behind the master
Incorrect master-slave coupling parameters or synchronization gain settings in the robot program
Mechanical issues such as friction, binding, or wear in the slave axis transmission
Communication delays or data transmission errors between master and slave controllers
Insufficient servo loop bandwidth or PID tuning on the slave axis

Troubleshooting Steps

1Check the KRC program for master-slave coupling declarations and verify the synchronization parameters are appropriate for the application speed and load
2Inspect the mechanical condition of the slave axis for binding, excessive friction, or component wear that could cause velocity lag
3Review and adjust the slave axis servo parameters and PID gains in the robot configuration to improve response time and tracking accuracy
4Verify network communication integrity between master and slave controllers; check for packet loss or latency issues
5Reduce the programmed motion speed to determine if the deviation is speed-dependent, then gradually increase speed while monitoring synchronization error
6Reset the alarm, perform a manual jog test of both axes independently to confirm proper operation, then re-execute the synchronized motion sequence

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