What causes KUKA Robot alarm KRC0377?

Axis is configured as absolute positioning type instead of incremental in the axis configuration settings. Incorrect axis number specified in the referencing command or program. Referencing command executed on a non-joint axis (such as an external axis) that uses absolute positioning. Configuration mismatch between the physical axis hardware and the software axis definition. Attempting to home an axis during active motion or with servo power not properly initialized.

How do I fix KUKA Robot alarm KRC0377?

1. Verify the axis type configuration in the KUKA controller settings; confirm which axes are defined as incremental versus absolute 2. Check the robot program or teach pendant command to ensure the correct axis number is being referenced 3. Review the axis hardware specification and cross-reference with the controller configuration to ensure proper axis type assignment 4. If the axis should support referencing, modify the axis configuration from absolute to incremental mode in the controller parameters 5. Verify that the robot is in a safe state with servo power enabled and no active motion before attempting referencing 6. Clear the alarm, reconfigure as needed, and retry the referencing operation; consult the KUKA system documentation if axis type change is required

KUKA Robot codes

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KUKA Robot Controller

Servo/Axis · Basic

Alarm KRC0377

KUKA Robot KRC0377 - REFERENCING AXIS <axis number> INADMISSIBLE

This alarm indicates an attempt to reference (home) an axis that is configured as absolute rather than incremental in the KUKA KRC controller. Referencing operations are only valid for incremental axes that require position initialization; absolute axes maintain their position data and cannot be referenced. This typically occurs when a referencing command is issued to an axis type that does not support this operation.

KUKA RobotServo/AxisBasic

KRC0377

KUKA Robot KRC0377 - REFERENCING AXIS <axis number> INADMISSIBLE

REFERENCING AXIS <axis number> INADMISSIBLE

Common Causes

Axis is configured as absolute positioning type instead of incremental in the axis configuration settings
Incorrect axis number specified in the referencing command or program
Referencing command executed on a non-joint axis (such as an external axis) that uses absolute positioning
Configuration mismatch between the physical axis hardware and the software axis definition
Attempting to home an axis during active motion or with servo power not properly initialized

Troubleshooting Steps

1Verify the axis type configuration in the KUKA controller settings; confirm which axes are defined as incremental versus absolute
2Check the robot program or teach pendant command to ensure the correct axis number is being referenced
3Review the axis hardware specification and cross-reference with the controller configuration to ensure proper axis type assignment
4If the axis should support referencing, modify the axis configuration from absolute to incremental mode in the controller parameters
5Verify that the robot is in a safe state with servo power enabled and no active motion before attempting referencing
6Clear the alarm, reconfigure as needed, and retry the referencing operation; consult the KUKA system documentation if axis type change is required

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