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KUKA Robot Controller
System · Basic
KUKA Robot KRC0222 - CP VEL. REDUCTION POINT ** ** BY **
This alarm indicates that the robot's circular path (CP) velocity has been automatically reduced at a specific point during motion execution. The reduction occurs when the controller detects a condition requiring speed limitation to maintain safe or compliant operation, such as workspace boundaries, singularities, or joint velocity limits being approached.
KRC0222
KUKA Robot KRC0222 - CP VEL. REDUCTION POINT ** ** BY **
CP VEL. REDUCTION POINT ** ** BY **
This alarm indicates that the robot's circular path (CP) velocity has been automatically reduced at a specific point during motion execution. The reduction occurs when the controller detects a condition requiring speed limitation to maintain safe or compliant operation, such as workspace boundaries, singularities, or joint velocity limits being approached.
Common Causes
- Circular path velocity exceeds maximum allowable speed for the current configuration or workspace area
- Robot approaching joint limits or singularity zones that require velocity reduction for safe interpolation
- Acceleration/deceleration limits being exceeded during circular motion execution
- Active soft limits or virtual boundaries programmed in the robot's work envelope restricting velocity
- Insufficient path radius or curve geometry requiring reduced velocity to maintain accuracy
Troubleshooting Steps
- 1Review the robot program at the point where the alarm occurs and check the CP velocity parameter (V_REL or absolute velocity setting)
- 2Reduce the programmed velocity value in the affected motion command and re-test the path execution
- 3Verify the circular path radius and geometry are sufficient for the current velocity; increase radius if possible or reduce speed accordingly
- 4Check the robot's current configuration and ensure the path does not approach singularities or joint limits; adjust trajectory if needed
- 5Examine soft limits and workspace boundary settings in the robot's system parameters; adjust if overly restrictive
- 6Confirm acceleration/deceleration values (ACC) are appropriate for the velocity and path geometry; increase if excessive reduction is occurring
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