KRC0068

Common Causes

• Incorrect work envelope geometry definition that does not reflect actual robot physical reach or workspace
• Overly restrictive work envelope boundaries that prevent normal programmed motion sequences
• Inaccurate base frame or tool frame calibration causing position calculation errors relative to envelope
• Insufficient deceleration time when approaching work envelope boundaries at high velocity
• Work envelope coordinate system misaligned with the actual robot mounting orientation or reference frame

Troubleshooting Steps

1. 1Move the robot manually using the teach pendant to the position where the alarm occurred and note the actual coordinates
2. 2Open the work envelope definition in WorkVisual and verify the boundary coordinates against measured positions
3. 3Check the base frame and tool frame calibration values to ensure accurate position reporting
4. 4Increase the work envelope boundary limits if the geometry definition was too restrictive for required motion
5. 5Adjust axis velocity and acceleration parameters to ensure adequate deceleration before envelope boundaries
6. 6Re-download the corrected work envelope configuration and re-test the motion sequence that triggered the alarm