Kuka Industrial Robots Use & Programming

A STOP message or state is currently active, preventing the robot from executing commands. This condition typically arises when an EMERGENCY STOP button is engaged or the robot drives are not in a ready state, requiring operator intervention before motion can resume.

The robot's general motion enable signal has been lost, indicating that the drives have been switched off by the higher-level controller. This state stops all robot drives and inhibits all active commands, preventing any further robot movement until the condition is resolved.

A Safety STOP 0 has been triggered and executed by the safety controller. This is an immediate and uncontrolled stop where the safety controller de-energizes all robot drives and applies the brakes without a deceleration ramp. It is the highest priority safety stop.

A Safety STOP 1 has been triggered and monitored by the safety controller. In this stop, the non-safety-oriented part of the robot controller performs a controlled braking process. Once the manipulator reaches a standstill, the safety controller then switches off the drives and applies the brakes.

A Safety STOP 2 has been triggered and is monitored by the safety controller. During this stop, the robot drives remain activated and the brakes are released. The manipulator and any external axes are decelerated using a path-maintaining braking ramp, and a safe operational stop is initiated upon reaching standstill.

Axis A5 of the robot has reached or attempted to move beyond its configured software limit switch in a specific direction (either positive or negative). This is a protective measure to prevent mechanical damage or collisions by restricting the robot's working range.