KUKA Robot codes
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KUKA Robot Controller

Tool · Basic

Alarm KRC0035

KUKA Robot KRC0035 - INVALID $TOOL: WORKING ENVELOPE SURVEILLANCE NOT POSSIBLE

This alarm indicates that the $TOOL variable contains an invalid or incompletely defined tool configuration while working envelope surveillance (also known as workspace monitoring) is active. The KRC controller cannot perform collision detection and workspace boundary monitoring without a properly defined tool frame, mass properties, and geometry data. This safety feature prevents unpredictable robot behavior in monitored work areas.

KUKA RobotToolBasic

KRC0035

KUKA Robot KRC0035 - INVALID $TOOL: WORKING ENVELOPE SURVEILLANCE NOT POSSIBLE

INVALID $TOOL: WORKING ENVELOPE SURVEILLANCE NOT POSSIBLE

This alarm indicates that the $TOOL variable contains an invalid or incompletely defined tool configuration while working envelope surveillance (also known as workspace monitoring) is active. The KRC controller cannot perform collision detection and workspace boundary monitoring without a properly defined tool frame, mass properties, and geometry data. This safety feature prevents unpredictable robot behavior in monitored work areas.

Common Causes

  • Tool definition file (.src or .dat) is missing or corrupted
  • Tool TCP (Tool Center Point) coordinates are not properly defined or contain invalid values
  • Tool mass and center of gravity parameters are missing or set to zero
  • Working envelope monitoring is enabled while using a generic or null tool definition
  • Tool geometry data required for collision detection is incomplete or incorrectly formatted

Troubleshooting Steps

  1. 1Verify the $TOOL variable is assigned a valid tool definition from the Tools database in the KRC controller
  2. 2Check the tool configuration file for correct TCP coordinates, mass properties, and load data in the appropriate format
  3. 3Confirm tool geometry and collision model data is properly loaded and visible in the KUKA|PRC or WorkVisual environment
  4. 4Disable working envelope surveillance temporarily to verify the tool definition itself is valid, then re-enable surveillance
  5. 5Review the robot program to ensure $TOOL assignment occurs before any motion commands when envelope monitoring is active
  6. 6Reload or re-import the tool definition file and perform a full safety system re-initialization if necessary

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