KUKA Robot Error Code 120 ACKN. MOTOR BLOCKED **
Cause – As soon as the torque command value supplied by the speed controller exceeds 30% of the max. torque command value, integration is started, and when the value of i*t reaches approx. 0.75 [(torque command value / max. torque command value) * sec] the control is switched off (i*t – monitoring).
Monitor – Cyclic.
Effect – Ramp-down braking. Program processing stopped.
Remedy – Eliminate the fault and reset it by pressing the acknowledge key on the KCP.
– Check that the axis is moving freely.
KUKA Error Message 120 ACKN. MOTOR BLOCKED **