Kuka KRC2

A non-specific internal error occurred during an I/O control operation. This indicates a fundamental issue within the system's ability to execute commands, possibly related to internal state, permissions, or a corrupted process.

The specified device address could not be located on the PROFIBUS. This can be due to an incorrect address parameter in the `ioCtl` call or the device not being present.

The device did not respond within the allocated timeout period (default 2 seconds) during a coupling or decoupling operation. This indicates a communication issue or the device being physically unavailable.

The OR_PATH_REPLAY() function was unable to locate the path corresponding to the provided 4-number PATHID identifier on the Compute Box. This suggests an incorrect or nonexistent path reference.

The OR_PATH_REPLAY() function attempted to replay a path that, while existing, contains no recorded movement data. This means the path was likely created or saved incorrectly without actual trajectory information.

The OR_PATH_REPLAY() function failed to open the specified path file. This could be due to file corruption, incorrect permissions, or an underlying issue with the storage system on the Compute Box.

A short circuit has been detected at either outputs 1 to 8 or outputs 9 to 16. This will result in maximum braking of the system.

This fault indicates an overcurrent condition. For the KPS-600, it specifically signifies an I*t overload of the brake resistor during the charging phase, implying excessive energy dissipation. For KSDs, it means a power unit overcurrent, typically a short-circuit or ground fault detected by hardware monitoring, which is a critical fault risking damage to the power stage.

This fault indicates a short-circuit condition detected by software monitoring in KSDs. This implies an excessive current draw or unintended electrical path, identified by the drive's software algorithms, which can lead to protective shutdown to prevent hardware damage.

A channel in the safety loop has failed, or more than one enabling switch has been pressed simultaneously. This will cause path-maintaining braking and inhibit all active commands.

This fault indicates an I*t overload condition. For the KPS-600, it specifically refers to an overload of the brake resistor during operation, suggesting prolonged or heavy braking cycles. For KSDs, it indicates a general I*t overload, meaning the thermal capacity of a component (likely the motor or drive's power stage) has been exceeded over time, risking damage.

This fault indicates a phase failure. For the KPS-600, it specifically refers to a mains phase failure, meaning an issue with the incoming AC power supply. For KSDs, it indicates a motor phase failure, meaning one or more phases supplying the motor are missing or unbalanced. Both conditions prevent proper operation and lead to drive shutdown.

The specified parameter is invalid. This condition results in maximum braking and inhibits all active commands.

A mismatch has been detected in the firmware versions between components. This will cause maximum braking and inhibit all active commands.

This fault indicates an overtemperature condition detected at the heat sink of the device. This implies insufficient heat dissipation, potentially due to blocked airflow, a faulty cooling fan, or excessive ambient temperature, which can lead to thermal shutdown and component damage.

This fault indicates an overtemperature condition detected within the interior of the device. This suggests a general rise in internal temperature, possibly due to a faulty internal component, inadequate cabinet cooling, or high ambient temperatures, posing a risk of component degradation or failure.

This fault indicates that the maximum permissible number of communication errors with the drive bus has been exceeded. For KSDs, this also includes too many toggle bit errors in succession. This severe communication breakdown leads to short-circuit braking, signifying a loss of reliable control and data exchange with the drive bus.

This fault signifies a crash of the internal microcontroller for either the KPS-600 or KSD device. This is a severe error indicating an unexpected software or hardware failure within the control unit, leading to a loss of control and operation.

This fault indicates a checksum error within parameter set 1 for either the KPS-600 or KSD device. This means the stored configuration data for parameter set 1 is corrupted or inconsistent, which can affect drive operation and lead to unpredictable behavior or prevent startup.

This fault indicates a communication error with the EEPROM (Electrically Erasable Programmable Read-Only Memory) located in the control unit, affecting both KPS-600 and KSD devices. This can lead to issues saving or retrieving critical operational data and parameters, potentially causing incorrect device behavior or preventing startup.

This fault indicates a communication error with the EEPROM (Electrically Erasable Programmable Read-Only Memory) located in the power unit (KSDs). This prevents the power unit from correctly storing or retrieving its specific configuration and operational data, potentially affecting power stage control and overall drive functionality.

This fault indicates an external error that has triggered a request for short-circuit braking from the controller (KSDs). This means a fault condition outside the drive itself has been detected by the controller, leading it to initiate an emergency stop, highlighting a safety or process-critical issue that requires external investigation.

This fault indicates a checksum error within the control unit device set. This implies corruption or inconsistency in the control unit's stored device configuration data, potentially leading to incorrect control functionality or system instability.

This fault indicates a checksum error within the power unit device set (KSDs). This implies corruption or inconsistency in the power unit's stored device configuration data, which can lead to incorrect power stage operation or system instability.

This fault indicates that the main contactor K1 is stuck, meaning it has failed to open or close as commanded (KPS-600). This can prevent the system from safely powering up or shutting down, and can lead to continuous power supply to the drive even when disengaged, posing a safety risk.

This fault indicates that the optocoupler responsible for detecting current flow through the ballast resistor is signaling no current, even when expected (KPS-600). This suggests a fault in the ballast resistor, its associated circuitry, or the optocoupler itself, preventing proper regenerative energy dissipation.

This fault indicates an undervoltage condition in the low voltage supply for the KPS-600. This means the control power supply voltage is below the operational threshold, which can affect control unit stability and lead to unexpected shutdowns or erratic behavior.

This fault indicates a battery undervoltage condition where the battery voltage has dropped below 22V (KPS-600). This is critical for maintaining volatile memory or providing backup power, and sustained low voltage can lead to data loss or operational issues.

This fault indicates a more severe battery undervoltage condition where the battery voltage has dropped below 19V (KPS-600). At this critical level, system functions relying on battery power may become unstable or fail completely, risking data integrity.

This fault indicates an undervoltage condition in the intermediate DC bus circuit during charging, specifically failing to reach the 500V threshold (KPS-600). This suggests an issue with the incoming mains supply or the rectifier section, preventing the DC bus from charging adequately for operation.

This fault indicates an overvoltage condition in the intermediate DC bus circuit during the charging phase (KPS-600). This can be caused by excessive input voltage or issues with the charging circuit, risking damage to power components if the voltage exceeds safe limits.

The brake has excessive wear or is defective. This results in maximum braking and inhibits all active commands. Under certain circumstances, it may not be possible to brake the axis.

A fault has occurred in the control loop. Possible causes include interchanged motor cables between two axes, an error in axis assignment, a defective power module, or an unmastered resolver. This fault causes maximum braking and inhibits all active commands.

This fault indicates an error in the brake system for the main axes (KPS-600). This could be due to a faulty brake component, incorrect brake control signals, or issues with the brake power supply, potentially compromising safety and the ability to hold the main axes.

This fault indicates an error in the brake system for the external axes (KPS-600). Similar to main axes, this could be caused by a faulty brake component, incorrect control signals, or power issues, affecting the ability to hold external loads safely and reliably.

A battery fault has been detected in the encoder of the specified axis, indicating a need for battery replacement.

The fan in the cabinet is defective. This condition can lead to overheating of the hardware within the cabinet.

An error occurred while reading the configuration file in the MADA directory for a force-controlled axis. Error codes include: 1 (File could not be opened), 2 (Missing entry), or 3 (Inconsistent data). This fault prevents force control from being activated.

Force mode is activated, but the RDC (Robot Drive Controller) does not have the required plug-on card for multiplex operation. Consequently, force mode will not be activated.

An error occurred during a write operation by a specific driver on the system. This indicates a problem with data transmission or driver functionality.

This is a follow-up message to the 'POST Error: Parameter table checksum fault' status message, indicating an issue with the parameter table integrity. The fault leads to maximum braking and inhibition of all active commands.

This is a follow-up message to the 'POST Error: Encoder FPGA loopback fault' status message, indicating an issue with the encoder's FPGA loopback. The fault leads to maximum braking and inhibition of all active commands.

This is a follow-up message to the 'Power board FPGA fault' status message. It indicates a critical error on the power board's FPGA, leading to maximum braking and inhibition of all active commands.

This is a follow-up message to the 'POST Error: A/D fault' status message. It indicates an analog-to-digital converter fault, resulting in maximum braking and inhibition of all active commands.

This is a follow-up message to the 'POST Error: A/D offset fault' status message. It indicates an offset error in the analog-to-digital converter, leading to maximum braking and inhibition of all active commands.

This is a follow-up message to the 'POST Error: Invalid parameter fault' status message. It indicates an invalid parameter fault, resulting in maximum braking and inhibition of all active commands.

This is a follow-up message to the 'FAILURE OF MOTOR TEMPERATURE SENSOR' status message, indicating a sensor malfunction.

This is a follow-up message to the 'WRONG DRIVES PARAMETER' status message, indicating an incorrect drive parameter setting.

This is a follow-up message to the 'ERROR SYNC. INPUT DRIVE' status message, indicating an error with the drive's synchronization input.

This is a follow-up message to the 'SYNCHRONISATION ERROR DRIVE' status message, indicating a synchronization error within the drive.

This is a follow-up message to the '... WITHOUT POWER' status message, indicating that the specified axis is not receiving power.

The safety fence is currently open, which prevents safe operation of the equipment.

The trace has been incorrectly defined in the 'TRACE.DEF' file, preventing proper trace functionality.

The 'TRACE.DEF' file could not be read at the start of trace recording, preventing the recording from being carried out.

An error or malfunction has occurred in data transmission on the Interbus. This will stop data transmission on the Interbus and reset all outputs.

A malfunction has occurred in the specified Interbus module. This condition will cause the outputs to be reset.

There is a battery fault in the encoder of the specified axis. This is an acknowledgement message for the encoder battery fault.

The fan in the cabinet is defective, which can lead to overheating of the hardware within the cabinet.

The robot controller has entered a stop state because an error occurred on the field bus. This indicates a general issue preventing normal operation over the PROFIBUS.

This is a cyclic follow-up message to the 'Encoder cable failure ext. posinput' status message. It indicates a failure in the external position input encoder cable, resulting in path-maintaining braking and inhibition of all active commands, with the $ALARM_STOP 0 signal activated.

The IPO_MODE TCP was set while 'MDR base' was active. This configuration is not permitted and will cause the robot to stop.

This is a follow-up message to the 'Force controller error' indicating that the force sensor signal does not match the motion. Error type 1: Actual force changes but position remains constant. Error type 2: Position changes but actual force remains constant. Error type 3: The gun opens further than the position corresponding to FORCE_LIM. These monitoring functions are only active during force control, resulting in dynamic braking, inhibition of active commands, and the 'ALARM_STOP' signal at level 0.

The PROFIBUS master experienced an error related to its configuration. The specific cause is detailed in the accompanying 'Cause of error' message, indicating an issue with the setup or parameters of the PROFIBUS master.

The PROFIBUS master encountered an error within a specific module, identified by its name and further detailed by an internal error code. This suggests a component-specific issue on the PROFIBUS master. Refer to the PROFIBUS master's manufacturer documentation for details on the specific error code.

This message indicates that the device is in an operational and healthy state. It is a status message rather than a fault.

The device has detected an internal error. This indicates a component or software malfunction within the KPP or KSP module for a specific axis.

The axis is experiencing an overload, indicated by the mean continuous current being too high or excessive power consumption. This can be caused by an excessive load in the robot program, recent machine modifications, or adverse temperature influences on the system.

This fault indicates a power unit overcurrent due to a ground fault in the motor or motor cable connected to a KPP/KSP drive. A ground fault poses a significant safety risk and can cause severe damage to electrical components.

This fault signifies a brief overcurrent condition that exceeds the maximum current capacity of the KPP drive. This is typically caused by a short-circuit, leading to immediate drive protection actions.

An overvoltage condition has occurred in the intermediate DC circuit during operation. This can be caused by high incoming mains voltage, a fault in the ballast switch, or excessive braking energy being fed back into the DC bus.

An undervoltage condition has occurred in the intermediate DC circuit during operation. This can be caused by low incoming mains voltage, issues with the intermediate circuit cabling, or a fault in the KPP/KSP charging circuit that prevents proper voltage build-up.

The heat sink temperature on the KPP or KSP module for a specific axis is too high, indicating an overtemperature condition. This can lead to overheating and potential damage to the drive components if not addressed.

A failure has occurred in one or more motor phases connected to the KPP or KSP module for a specific axis. This indicates an open circuit or imbalance in the motor power supply, preventing proper motor operation and potentially causing damage.

This fault indicates a communication error on the controller bus, specifically affecting the KPP or KSP drive unit. This prevents the controller from sending commands or receiving feedback from the drive, leading to axis control failure.

The EtherCAT master has received an unknown status flag from the KPP or KSP module for a specific axis, indicating a software error within the EtherCAT master. This suggests an unexpected communication state.

The KPP or KSP module for a specific axis is reporting an unknown device status. This indicates an unexpected operational state not recognized by the controller.

The KPP or KSP module for a specific axis has detected an internal hardware fault. This is a critical error indicating a component failure within the drive module.

A failure has occurred in one or more mains phases supplying the KPP or KSP module for a specific axis. This indicates a loss of input power, preventing the drive from operating.

This fault indicates that the supply voltage to the KPP/KSP drive has dropped below 300 V. Insufficient supply voltage can lead to unstable drive operation, undervoltage faults, and system shutdowns.

An overvoltage condition occurred in the KPP/KSP during the charging phase of the intermediate circuit. This could be due to excessively high incoming mains voltage or an insufficient number of capacitors connected to the system for proper voltage regulation.

The KPP module has detected an error in the ballast circuit, which typically includes the brake resistor. This indicates an issue with the energy dissipation components, potentially leading to overvoltage conditions if braking energy cannot be properly absorbed.

The ballast circuit is experiencing a permanent overload, indicating that the braking energy being generated is consistently too high for the connected ballast resistor. This can lead to overheating and damage to the brake resistor and drive.

This message indicates that the device is in an operational and healthy state. It is a status message rather than a fault.

The KPP or KSP module for a specific axis has detected an internal error. This indicates a component or software malfunction within the drive module.

This fault indicates that an axis is overloaded, leading to the mean continuous current being too high. It can occur during start-up due to excessive program load or during operation due to system modifications, temperature influences, or excessive power demand. The risk is potential damage to the KPP/KSP power units or the axis motor due to sustained high current.

This fault indicates a power unit overcurrent condition specifically due to a ground fault on an axis. It points to an insulation breakdown or unintended conductive path to ground in the motor or its cabling, leading to excessive current flow.

This fault signifies a brief but significant overcurrent exceeding the maximum current rating of the KPP, often indicative of a short-circuit condition. Such a fault can cause immediate damage to power electronics, motor windings, or associated cabling due to excessive current flow.

This fault occurs when the DC link voltage in the intermediate circuit rises above its specified operating limit during operation. This often results from regenerative energy feedback into the DC bus during braking, or an issue with the mains supply voltage.

This fault indicates that the DC link voltage in the intermediate circuit has dropped below its minimum operating threshold during operation. This is typically caused by insufficient incoming mains supply, issues with the DC link cabling, or a problem with the internal charging circuit.

An overtemperature condition has been detected within the KPP or KSP device for a specific axis. This indicates that the internal operating temperature of the drive or control unit has exceeded its safe limits, potentially due to insufficient cooling or excessive load. Continued operation in this state can lead to component damage or premature failure.

An overtemperature condition has been detected specifically on the heat sink of the KPP or KSP device for a specific axis. This indicates that the component responsible for dissipating heat from the power electronics is not functioning effectively, leading to elevated temperatures. Persistent high heat sink temperatures can degrade component performance and longevity.

A failure has been detected in one or more motor phases supplied by the KPP or KSP device for a specific axis. This typically indicates an open circuit, short circuit, or significant imbalance in the electrical connection between the drive and the motor. This condition prevents proper motor operation and can cause mechanical or electrical stress.

A communication error has occurred on the controller bus, specifically identified as an EtherCat issue, involving the KPP or KSP device for a specific axis. This indicates a disruption in data exchange between the KPP/KSP and the main controller or other bus participants. Loss of communication can prevent axis control and coordinated motion.

The EtherCAT master has received an unknown status flag from the KPP or KSP module for a specific axis, indicating a software error within the EtherCAT master. This suggests an unexpected communication state.

The KPP or KSP device for a specific axis is reporting an unknown internal device status. This indicates that the device is in an unidentifiable operational state, which could be due to an internal malfunction or a software anomaly. This condition may prevent proper operation and requires further investigation.

The KPP or KSP module for a specific axis has detected an internal hardware fault. This is a critical error indicating a component failure within the drive module.

A failure has occurred in one or more mains phases supplying the KPP or KSP module for a specific axis. This indicates a loss of input power, preventing the drive from operating.

The supply voltage to the KPP or KSP module for a specific axis has fallen below 300 V. This indicates an insufficient power supply, potentially causing erratic operation or complete shutdown.

An overvoltage condition occurred during the charging phase of the KPP or KSP module for a specific axis. This could be due to excessive mains voltage or an insufficient number of connected capacitance modules.

The KPP module has detected an error in the ballast circuit, which typically includes the brake resistor. This indicates an issue with the energy dissipation components, potentially leading to overvoltage conditions if braking energy cannot be properly absorbed.

The ballast circuit is experiencing a permanent overload, indicating that the braking energy being generated is consistently too high for the connected ballast resistor. This can lead to overheating and damage to the brake resistor and drive.

The intermediate circuit of the drive system has failed to charge. This indicates a problem with the DC link charging process, preventing the drive from powering up correctly.

This fault indicates that the intermediate DC link circuit failed to charge properly during power-up or initialization. This prevents the drive from starting or operating, pointing to a fundamental issue in the power supply path or the charging components.

The brake cable monitoring device has signaled a fault, such as a short-circuit, overcurrent, or a break in the connection. This fault affects all axes simultaneously, indicating a problem common to the braking system.

This fault indicates an issue detected by the brake cable monitoring device, signaling a short-circuit, overloading, or a break in the brake connection, or that no brake is connected. This compromises the safety function of the motor brake, potentially leading to uncontrolled axis movement or dropped loads.

The brake resistor experienced an I²t overload during operation. This indicates that the ballast switch was energized for an excessive duration. Possible causes include a defective or incorrectly connected ballast resistor, or deceleration phases in the robot program that are too long.

The brake resistor experienced an I²t overload during the charging phase. This indicates that the ballast switch was energized for an excessive duration, possibly due to a defective ballast resistor or incorrect connection.

A brake error has occurred on the external axes, specified by channel x. This could be due to the brakes not being connected or a short-circuit present on the brake cable.

The buffer battery voltage has dropped below 22V, indicating an undervoltage condition. This requires attention to maintain system integrity and prevent data loss.

An overtemperature condition has been detected inside the KPS module (PMx). This indicates that the cabinet ventilation is not functioning correctly, leading to an elevated interior temperature affecting the KPS.

The buffer battery voltage for the KPS module (PMx) has dropped critically low, below 19V, indicating a severe undervoltage condition that likely requires battery replacement.

The microcontroller within the servo drive module for the specified axis (Ax) has crashed. This indicates an internal hardware or firmware malfunction of the KSD.

A communication error has occurred with the EEPROM in the control unit of the servo drive module for the specified axis (Ax). This suggests an issue with data storage or retrieval within the KSD's control unit.

A communication error has occurred with the EEPROM in the power unit of the servo drive module for the specified axis (Ax). This suggests an issue with data storage or retrieval within the KSD's power unit.

A checksum error has occurred in the control unit device set of the servo drive module for the specified axis (Ax). This indicates data corruption in the control unit's configuration.

A checksum error has occurred in the power unit device set of the servo drive module for the specified axis (Ax). This indicates data corruption in the power unit's configuration.

The servo drive module (KSD) for the specified axis (Ax) has entered a fault state, causing the robot to perform an Emergency Stop. Further detailed error messages are usually displayed in conjunction with this general fault.

The microcontroller within the KPS module (PMx) has crashed. This indicates an internal hardware or firmware malfunction of the KPS.

A communication error has occurred with the EEPROM in the control unit of the KPS module (PMx). This suggests an issue with data storage or retrieval within the KPS control unit.

The file 'ecatms_sys_X44_swap.xml', which contains system configuration data, could not be opened. This indicates the file contains syntax errors or is corrupt.

A failure has been detected in one of the motor phases for the specified axis (Ax). This typically indicates an open circuit, loose connection, or an imbalance in the motor's power supply.

More than one identical gateway module has been detected on the bus. The system supports a maximum of one master and one slave gateway, and this redundancy causes a DeviceNet master configuration error (Message 4429).

An overtemperature condition has been detected on the heat sink of the servo drive module for the specified axis (Ax). This indicates inadequate cooling or excessive load on the axis.

An overtemperature condition has been detected on the heat sink of the KPS module (PMx). This indicates that the cabinet ventilation is not functioning correctly, leading to inadequate cooling of the KPS.

The optocoupler responsible for ballast resistor current detection signals that no current is flowing through the ballast resistor, even during charging. This indicates a defect in the intermediate circuit charging circuit of the KPS module (PMx).

A system error related to the ECatWrapper interface, indicating a fundamental issue within the system's software components that manage EtherCAT communication.

The configuration of the error status bytes for the devices does not match the overall bus configuration. This suggests a mismatch in how error conditions are reported or interpreted.

No valid process data configuration (PDO) is available for the gateway module. This indicates an issue with how the gateway's data exchange is defined.

The gateway module connected to the system is unknown or has an invalid identification. This indicates an incompatible or misconfigured gateway.

The file 'ecat_PBM_Gateway.xml', which contains the optional slave configuration, is faulty. This prevents correct initialization of optional slave devices on the PROFIBUS.

A system error occurred during the creation of I/O data, indicating an issue with internal data structures or resource allocation for I/O operations.

A mastering error has occurred because at least one robot axis is not correctly mastered. This condition is indicated by the 'JF' signal being '0'. The consequence of this error is the deactivation of space monitoring functionality, which can compromise the safety system's ability to monitor robot position relative to defined workspaces.

The main contactor K1 in the KPS module (PMx) is stuck (welded) in either a closed or open position. This prevents proper control of power flow to the drive system.

This error indicates a power unit overcurrent due to a short-circuit or ground fault, detected by hardware monitoring. It can also signify a ground fault detected by software monitoring, affecting the motor cable or motor itself.

A defined monitoring space, identified by 'x' (where 'x' ranges from 1 to 16), has been violated. This indicates that the robot manipulator or an external axis has entered or is currently within a restricted or forbidden zone. The signal state '0' signifies a violation, and an inactive monitoring space is also considered violated by default, resulting in a '0' signal.

This fault indicates an overcurrent condition on the specified axis (Ax). Possible causes include overloading of the axis or an I²t overload. A defective KSD module could also be the root cause.

An overvoltage condition has been detected in the intermediate circuit of the KPS module (PMx) during operation. This can be caused by excessively high mains voltage or a defective ballast switch not dissipating regenerative energy.

An overvoltage condition has been detected in the intermediate circuit of the KPS module (PMx) during its charging phase. This is typically caused by a mains voltage that is too high.

A checksum error has occurred in parameter set 1 of the servo drive module for the specified axis (Ax). This indicates data corruption within the parameter configuration of the KSD.

A checksum error has occurred in parameter set 1 of the KPS module (PMx). This indicates data corruption within the KPS parameter configuration.

A checksum error has occurred in the control unit device set of the KPS module (PMx). This indicates data corruption in the KPS control unit's configuration.

The maximum permissible number of communication errors with the servo bus for the specified axis (Ax) has been exceeded. Too many consecutive toggle bit errors are a common cause, leading to short-circuit braking.

This is a system error indicating an invalid System Manager interface, affecting the DeviceNet master configuration (Message 4429). The system's management interface is not properly initialized or configured.

This is a system error indicating that the gateway module was unable to allocate necessary memory. This prevents its proper operation and leads to a DeviceNet master configuration error (Message 4429).

This is a system error preventing the creation of the Gateway-SEM (System Event Manager) component. This failure leads to DeviceNet master configuration problems (Message 4429) as critical gateway management resources cannot be initialized.

A system error occurred where a necessary task for the gateway module could not be started, indicating a problem with process creation or resource allocation.

The low-voltage supply for the KPS module (PMx) is experiencing an undervoltage condition. The rated voltage for this supply is 27.1 V.

The intermediate circuit of the KPS module (PMx) did not reach the 500 V threshold during charging, indicating an undervoltage condition. This is typically caused by a mains voltage that is too low.

The maximum permissible number of communication errors with the servo bus has been exceeded by the KPS power module (PMx). This watchdog error causes short-circuit braking.