Axis 1 Drive Error - Position Deviation

KUKA Robot Critical Robot

Model: KUKA KR 16 Robot | Code: KUKA A1

Applicable Systems
KR CYBERTECH

Symptoms

Axis 1 servo drive reports position deviation beyond tolerance; robot motion may stop; safety controller active.

Possible Causes

  • Axis 1 servo motor overload
  • Position encoder signal loss
  • Mechanical jam in axis 1 gearbox

Troubleshooting Steps

  1. Step 1: Check axis 1 for mechanical obstruction
    No obstruction, robot moves freely
  2. Step 2: Check servo motor encoder signal
    Encoder signal clean and stable
  3. Step 3: Inspect axis 1 servo drive module LEDs
    No fault LED on drive module
  4. Step 4: Check axis 1 gearbox oil level and condition
    Oil at correct level, clean
  5. Step 5: Recalibrate axis 1 zero position if encoder was replaced
    Axis 1 calibrated successfully

How to Reset

Reset via KUKA SmartPad: acknowledge fault and re-master axis if needed.

Common Replacement Parts

  • KUKA KSD1-32 Servo Drive
  • Axis 1 Encoder Cable

Frequently Asked Questions

  • Q: What is KUKA KRC fault classification?

    KUKA uses A/B/C fault classes: A=Warning (continue), B=Error (stop current motion), C=Error (requires reset). A1 class A faults allow continued operation with reduced speed.

Related KUKA Fault Codes

Source: kuka fault codes manual

Category: Robot