KUKA Error 204 — HARDWARE LIMIT SWITCH / OR MISSING?
ErrorDisplayed as KSS00204 on KRC4 / KRC5 controllers
KUKA 204 (“HARDWARE LIMIT SWITCH / OR MISSING?”): The hardware limit switch of the indicated axis has been approached in the indicated direction. First check: Move the axis clear in the opposite direction.
Updated 2026-09-09 · LogrobotLM reference
Cause
The hardware limit switch of the indicated axis has been approached in the indicated direction.
Effect
Speed stop. All active commands inhibited.
Troubleshooting
Move the axis clear in the opposite direction.
Related codes
Indicative field information — the robot manufacturer's manual and safety procedures always prevail. Never bypass a safety device; apply lockout/tagout (LOTO) before any physical intervention. How this reference is built →