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KUKA Robot Controller
Servo/Axis · Basic
KUKA Robot KRC0643 - Tacho balance only possible for one axis
This alarm occurs when a tacho balance operation for DSE (Distributed Servo Electronics) axes is attempted on multiple axes simultaneously, which is not permitted by the system architecture. Tacho balance must be performed sequentially on individual axes to maintain proper sensor calibration.
KRC0643
KUKA Robot KRC0643 - Tacho balance only possible for one axis
Tacho balance only possible for one axis
This alarm occurs when a tacho balance operation for DSE (Distributed Servo Electronics) axes is attempted on multiple axes simultaneously, which is not permitted by the system architecture. Tacho balance must be performed sequentially on individual axes to maintain proper sensor calibration.
Common Causes
- KRL program contains DSE tacho balance command targeting multiple axes in a single instruction
- Incorrect syntax in SafeOperation function call attempting to balance multiple DSE channels at once
- Batch calibration script written to balance all DSE axes without sequential individual calls
- Concurrent tacho balance commands triggered from parallel program tasks or interrupt routines
- WorkVisual DSE configuration script attempting simultaneous multi-axis tachometer compensation
Troubleshooting Steps
- 1Review the tacho balance command in the KRL program to identify which axes are specified
- 2Modify the program to call tacho balance sequentially for each DSE axis individually with separate instructions
- 3Add appropriate delay statements between consecutive tacho balance operations for different axes
- 4Verify WorkVisual DSE configuration and ensure only single-axis balance is defined per command block
- 5Test the corrected program on a single axis first before expanding to multi-axis sequential balancing
- 6Consult KUKA KRC4 documentation for correct DSE tacho balance syntax and execution requirements
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