KRC0033

Common Causes

• External axis is defined with a mechanical coupling ratio but advanced path profile instruction (CIRC, SPLINE, PTP with advanced options) is being executed
• Linked external axes have interdependent motion relationships that prevent independent trajectory planning required for advanced profiles
• Incorrect axis configuration or coupling parameters in the robot's kinematic model or axis declaration
• Attempting to use advanced motion profiles with gantry or synchronized external axes that have rigid mechanical linkage
• Program uses conflicting motion commands where external axes cannot maintain coupling constraints during non-linear interpolation

Troubleshooting Steps

1. 1Verify the axis coupling configuration in the robot's system parameters and kinematic declarations (check $AXIS_COUPLE definitions)
2. 2Simplify the path profile by replacing CIRC, SPLINE, or advanced interpolation instructions with PTP (point-to-point) movements that support external axis coupling
3. 3Review the motion program and decouple external axes during advanced profile segments if physically possible, or execute them separately with standard PTP instructions
4. 4Confirm that external axes are properly synchronized and that their coupling ratios are correctly defined in the controller configuration
5. 5Test with basic linear motion (LIN) instructions instead of circular or spline profiles to isolate whether the issue is specific to advanced interpolation types
6. 6Contact KUKA support or consult the system documentation to verify if your specific external axis configuration supports advanced path profiles, and update the kinematic model or motion strategy accordingly