What causes KUKA Robot alarm KRC0224?

Trace buffer was cleared or reset before backward motion command was issued. Forward motion was executed with trace recording disabled or insufficient buffer allocation. Robot controller power cycle or emergency stop occurred, clearing volatile trace memory. Backward motion command issued immediately after startup without prior forward motion data. Trace buffer size configuration is too small for the executed motion profile.

How do I fix KUKA Robot alarm KRC0224?

1. Verify that trace recording is enabled in the motion configuration and buffer size is appropriately set in the controller parameters 2. Execute a complete forward motion cycle to populate the trace buffer before attempting backward motion 3. Check the robot's teach pendant or KRC controller interface for any trace buffer configuration settings and adjust if necessary 4. Clear any error logs and perform a controlled restart of the KRC controller to reset the trace system properly 5. Review the program logic to ensure backward motion commands follow corresponding forward motion commands with sufficient trace data available 6. If issue persists, contact KUKA support and provide system logs, trace buffer settings, and the motion program sequence that triggered the alarm

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0224

KUKA Robot KRC0224 - TRACE BUFFER EMPTY, START WITH BACKWARD SCAN

This alarm indicates that the trace buffer required for backward motion analysis is empty or insufficient, causing the system to switch to SCAN method for backward trajectory reconstruction. This typically occurs when attempting to execute backward motion commands without adequate trace data from the preceding forward motion, preventing the controller from accurately retracing the robot's path.

KUKA RobotSystemBasic

KRC0224

KUKA Robot KRC0224 - TRACE BUFFER EMPTY, START WITH BACKWARD SCAN

TRACE BUFFER EMPTY, START WITH BACKWARD SCAN

Common Causes

Trace buffer was cleared or reset before backward motion command was issued
Forward motion was executed with trace recording disabled or insufficient buffer allocation
Robot controller power cycle or emergency stop occurred, clearing volatile trace memory
Backward motion command issued immediately after startup without prior forward motion data
Trace buffer size configuration is too small for the executed motion profile

Troubleshooting Steps

1Verify that trace recording is enabled in the motion configuration and buffer size is appropriately set in the controller parameters
2Execute a complete forward motion cycle to populate the trace buffer before attempting backward motion
3Check the robot's teach pendant or KRC controller interface for any trace buffer configuration settings and adjust if necessary
4Clear any error logs and perform a controlled restart of the KRC controller to reset the trace system properly
5Review the program logic to ensure backward motion commands follow corresponding forward motion commands with sufficient trace data available
6If issue persists, contact KUKA support and provide system logs, trace buffer settings, and the motion program sequence that triggered the alarm

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