What causes KUKA Robot alarm KRC0209?

No points were recorded during the forward motion pass due to record function not being activated. Forward motion points were executed but not saved or the trace file was deleted before backward motion attempt. Trace quality validation failed due to points exceeding velocity or acceleration limits or containing invalid coordinates. Robot collided with obstacles or protective zones during forward motion, causing trace rejection by the safety system. Program was interrupted or emergency stop was activated during forward motion before sufficient points could be recorded.

How do I fix KUKA Robot alarm KRC0209?

1. Review the teach mode status display on the KUKA smartPAD to confirm forward motion points were recorded and accepted 2. Perform the forward motion sequence again while ensuring the record function is active and monitoring the point counter 3. Verify that the motion path does not exceed configured velocity limits and does not violate any safety zones or collision boundaries 4. Check the trace file in WorkVisual or the KRC4 file system to confirm forward motion data exists and is not corrupted 5. Ensure the robot workspace is clear of obstacles and that all safety gates and protective devices are in teach mode configuration 6. If traces continue to be rejected, verify the motion path feasibility using WorkVisual simulation before attempting physical teach again

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0209

KUKA Robot KRC0209 - BACKWARD MOTION EXECUTION NOT POSSIBLE: NO TRACE

Backward motion playback cannot be executed because no valid forward motion trace was recorded or all recorded traces were rejected during quality checks. The robot requires a successful forward motion sequence before backward motion replay can be performed in teach mode.

KUKA RobotSystemBasic

KRC0209

KUKA Robot KRC0209 - BACKWARD MOTION EXECUTION NOT POSSIBLE: NO TRACE

BACKWARD MOTION EXECUTION NOT POSSIBLE: NO TRACE

Common Causes

No points were recorded during the forward motion pass due to record function not being activated
Forward motion points were executed but not saved or the trace file was deleted before backward motion attempt
Trace quality validation failed due to points exceeding velocity or acceleration limits or containing invalid coordinates
Robot collided with obstacles or protective zones during forward motion, causing trace rejection by the safety system
Program was interrupted or emergency stop was activated during forward motion before sufficient points could be recorded

Troubleshooting Steps

1Review the teach mode status display on the KUKA smartPAD to confirm forward motion points were recorded and accepted
2Perform the forward motion sequence again while ensuring the record function is active and monitoring the point counter
3Verify that the motion path does not exceed configured velocity limits and does not violate any safety zones or collision boundaries
4Check the trace file in WorkVisual or the KRC4 file system to confirm forward motion data exists and is not corrupted
5Ensure the robot workspace is clear of obstacles and that all safety gates and protective devices are in teach mode configuration
6If traces continue to be rejected, verify the motion path feasibility using WorkVisual simulation before attempting physical teach again

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