KUKA Robot codes
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KUKA Robot Controller

System · Basic

Alarm KRC0228

KUKA Robot KRC0228 - FINISHED SUBROUTINE: SKIP MOTIONS

During backward motion execution in SCAN method, the KRC interpreter encounters a subprogram that has already been completely executed in forward motion. This prevents redundant re-execution of motion instructions during the backward traverse phase, which could cause unintended robot movements or program logic errors.

KUKA RobotSystemBasic

KRC0228

KUKA Robot KRC0228 - FINISHED SUBROUTINE: SKIP MOTIONS

FINISHED SUBROUTINE: SKIP MOTIONS

During backward motion execution in SCAN method, the KRC interpreter encounters a subprogram that has already been completely executed in forward motion. This prevents redundant re-execution of motion instructions during the backward traverse phase, which could cause unintended robot movements or program logic errors.

Common Causes

  • Subprogram called multiple times in forward motion before backward execution begins
  • Motion fold structure improperly designed with repeated subroutine calls
  • SCAN method implementation missing proper fold separation between forward and backward segments
  • Subroutine contains only non-motion instructions executed during forward pass
  • Program logic error where same subroutine referenced in both forward and backward paths

Troubleshooting Steps

  1. 1Review the complete KRL program structure and identify all subroutine calls within motion folds
  2. 2Verify SCAN method syntax and fold definitions in WorkVisual or KUKA smartPAD editor
  3. 3Restructure motion folds to ensure subprograms are called only once per motion segment
  4. 4Separate forward and backward motion logic into distinct subroutines if code reuse is necessary
  5. 5Test the program in simulation mode using KRC4 interpreter before resuming robot execution
  6. 6Consult KUKA documentation on SCAN method fold structure and backward motion constraints

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