KRC0114

Common Causes

• Incorrect base frame or tool frame offset values in $BASE or $TOOL system variables causing TCP calculation errors relative to workspace limits
• Manually modified envelope range parameters in Safety Configuration or Machine Data files that are too restrictive for the application path
• KRL program commanding positions outside the envelope due to incorrect coordinate transformations or missing range validation logic
• Changed mechanical configuration such as different mounting angle or pedestal height not reflected in updated $ROBROOT or $WORLD frame definitions
• Safety PLC or external PLC sending reduced envelope limit values via PROFISAFE or digital inputs for temporary restricted zones

Troubleshooting Steps

1. 1Step 1: Record current robot position via smartPAD display showing AXIS and BASE coordinates to identify which limit boundary was violated
2. 2Step 2: Navigate to Display > Variable > Single and check current $BASE, $TOOL, and $ROBROOT values to verify correct frame definitions match physical installation
3. 3Step 3: Access Configuration > Safety Configuration > Workspace Monitoring to review active envelope limits in Cartesian and axis-specific limits
4. 4Step 4: Manually jog robot back inside envelope using axis-by-axis motion in T1 mode with reduced override, may require temporary envelope expansion if physically safe
5. 5Step 5: Review KRL program motion commands near violation point, add boundary checks using conditional logic or adjust target positions to remain within limits
6. 6Step 6: If envelope modification needed, coordinate with safety personnel to modify safety configuration in WorkVisual, perform validation test, and update safety acceptance documentation per ISO 10218 requirements