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KUKA Robot Controller
System · Basic
KUKA Robot KRC0642 - Load dependent ACC. adaption not possible for PTP <...>
This alarm indicates that load-dependent acceleration adaptation cannot be executed for the specified PTP motion because the integrated dynamic model simulation exceeds the continuous torque limits of the robot gear system. The adaptive acceleration feature requires that simulated gear loads remain within defined safety margins.
KRC0642
KUKA Robot KRC0642 - Load dependent ACC. adaption not possible for PTP <...>
Load dependent ACC. adaption not possible for PTP <...>
This alarm indicates that load-dependent acceleration adaptation cannot be executed for the specified PTP motion because the integrated dynamic model simulation exceeds the continuous torque limits of the robot gear system. The adaptive acceleration feature requires that simulated gear loads remain within defined safety margins.
Common Causes
- Programmed tool load mass exceeds the maximum rated capacity for acceleration-dependent adaptation
- PTP motion path geometry combined with load creates dynamic torque peaks beyond continuous gear rating
- Acceleration adaptation parameters set too aggressively for the installed payload mass
- Incorrect load mass definition in the tool data causing overestimation of required joint torques
- Insufficient deceleration phase distance in PTP command relative to load inertia characteristics
Troubleshooting Steps
- 1Verify the tool load mass value in the tool data configuration matches the actual physical payload
- 2Reduce the acceleration and deceleration values in the PTP command to lower dynamic torque requirements
- 3Check the robot specification sheet to confirm payload capacity versus applied load for this motion type
- 4Temporarily disable load-dependent acceleration adaptation with ACC parameter to allow motion execution
- 5Recalculate PTP motion parameters using reduced velocity targets to decrease required acceleration
- 6Contact KUKA support with robot model, payload specifications, and PTP motion data for dynamic load analysis
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