KUKA Error Message 1101 COMMAND ACCELERATION EXCEEDED <axis number>

KUKA Robot Error Code 1101 COMMAND ACCELERATION EXCEEDED <axis number>
Cause – Permissible command acceleration exceeded; e.g. because robot has been moved through singularity in cartesian mode.
Monitor – Cyclic.
Effect – Maximum braking.
– Low signal at “$ALARM_STOP” output.
– All active commands inhibited.
Remedy – Check program for alpha5 transitions (singularity).
– Reduce path velocity.
– Reduce path acceleration.
– Acknowledge message.


KUKA Error Message 1101 COMMAND ACCELERATION EXCEEDED <axis number>