KUKA Robot codes
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KUKA Robot Controller

System · Intermediate

Alarm KRC0186

KUKA Robot KRC0186 - ABSOLUTE ACCURACY ROBOT: POINT CONVERSION ONLY POSSIBLE IN T1 MODE

Absolute accuracy point conversion is enabled ($ABS_CONVERT = TRUE) but the robot is not operating in teach mode (T1) where point conversion operations are permitted. Absolute accuracy conversions require the reduced speed and operator safeguards of T1 mode to ensure precision and safety during coordinate frame transformations. The robot must be placed in T1 mode to proceed.

KUKA RobotSystemIntermediate

KRC0186

KUKA Robot KRC0186 - ABSOLUTE ACCURACY ROBOT: POINT CONVERSION ONLY POSSIBLE IN T1 MODE

ABSOLUTE ACCURACY ROBOT: POINT CONVERSION ONLY POSSIBLE IN T1 MODE

Absolute accuracy point conversion is enabled ($ABS_CONVERT = TRUE) but the robot is not operating in teach mode (T1) where point conversion operations are permitted. Absolute accuracy conversions require the reduced speed and operator safeguards of T1 mode to ensure precision and safety during coordinate frame transformations. The robot must be placed in T1 mode to proceed.

Common Causes

  • KRL program attempting point conversion while running in automatic mode (T2) instead of teach mode
  • Robot teach pendant mode selector switched to T2 during absolute accuracy calibration or conversion routine
  • SafeOperation mode configuration does not restrict $ABS_CONVERT operations to T1 mode only
  • Multi-program execution allowing background task to execute point conversion outside of T1 mode context
  • WorkVisual project settings missing T1 mode enforcement rule for absolute accuracy operations

Troubleshooting Steps

  1. 1Verify the teach pendant mode selector is in T1 position before attempting point conversion
  2. 2Review the KRL program and add conditional logic to check operating mode before setting $ABS_CONVERT to TRUE
  3. 3Open SafeOperation configuration in WorkVisual and confirm T1 mode is enforced for absolute accuracy variables
  4. 4Stop the current program execution and restart in T1 mode using the KUKA smartPAD mode selector
  5. 5Check that no background programs or parallel tasks are executing point conversion routines
  6. 6Perform a full safety function test to verify T1 mode restrictions are properly implemented in the control system

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