Applicable Systems
KR CYBERTECH
Symptoms
Axis 2 servo motor current exceeds safe limit; drive shutdown to protect motor and drive electronics.
Possible Causes
- Payload exceeding rated capacity
- Axis 2 gearbox seizure
- Servo motor winding short
Troubleshooting Steps
- Step 1: Verify payload is within rated capacity for KR 16 (16kg)
Payload within spec - Step 2: Check axis 2 gearbox for smooth movement by hand (motors off)
Gearbox moves smoothly - Step 3: Measure servo motor winding resistance (phase to phase)
Resistance balanced across phases - Step 4: Inspect axis 2 motor cable for damage
Cable intact - Step 5: Replace servo motor or drive if fault persists
No overcurrent after replacement
How to Reset
Reset via SmartPad; requires mastering if motor/encoder replaced.
Common Replacement Parts
- KUKA KSD1-32 Servo Drive
- Servo Motor KR 16 Axis 2
Frequently Asked Questions
- Q: What is KUKA mastering?
Process of establishing axis zero position using mechanical datum marks. Required after encoder/motor replacement or after collision.
Source: kuka fault codes manual
Category: Robot