Applicable Systems
KR CYBERTECH
Symptoms
Axis 3 position encoder signal error; robot cannot determine axis 3 position; motion stopped.
Possible Causes
- Encoder cable damaged or connector loose
- Encoder internal failure (resolver/absolute encoder)
- EMI interference on encoder signal cable
Troubleshooting Steps
- Step 1: Check axis 3 encoder cable connection at motor
Connector fully seated - Step 2: Inspect encoder cable for damage/routing near power cables
Cable routed separately from power - Step 3: Check encoder signal with oscilloscope (if available)
Signal clean, no noise - Step 4: Replace encoder cable if damaged
New cable signal clean - Step 5: Replace encoder/motor if signal still faulty
Encoder signal normal
How to Reset
Reset via SmartPad; requires axis remastering after encoder replacement.
Common Replacement Parts
- Axis 3 Encoder Cable
- Servo Motor with Encoder (KR 210)
Frequently Asked Questions
- Q: What is resolver vs absolute encoder?
Resolver = analog rotary transformer, robust but lower resolution. Absolute encoder = digital position sensor, higher resolution, remembers position after power off.
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Source: kuka fault codes manual
Category: Robot
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