KUKA Robot codes
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KUKA Robot Controller

Tool · Basic

Alarm KRC0229

KUKA Robot KRC0229 - $BWDSTART NOT IN FOLD. NO TOOL AND BASE INFORMATION FOUND

During SCAN method backward motion, a $BWDSTART assignment was not programmed as the first instruction in a motion fold, or tool and base information is missing. The $BWDSTART statement must precede all instructions that need to execute before backward motion is initiated, establishing the starting point for the backward traverse.

KUKA RobotToolBasic

KRC0229

KUKA Robot KRC0229 - $BWDSTART NOT IN FOLD. NO TOOL AND BASE INFORMATION FOUND

$BWDSTART NOT IN FOLD. NO TOOL AND BASE INFORMATION FOUND

During SCAN method backward motion, a $BWDSTART assignment was not programmed as the first instruction in a motion fold, or tool and base information is missing. The $BWDSTART statement must precede all instructions that need to execute before backward motion is initiated, establishing the starting point for the backward traverse.

Common Causes

  • Missing $BWDSTART declaration at the beginning of motion fold in KRL code
  • Tool or base coordinate frame data not defined before motion fold execution
  • $BWDSTART positioned after other motion or assignment statements instead of first
  • Incomplete tool definition or base offset values in SafeOperation configuration
  • Motion fold created without proper initialization of coordinate system references

Troubleshooting Steps

  1. 1Check KRL program and confirm $BWDSTART is the first executable instruction in the motion fold
  2. 2Verify tool and base coordinate frame definitions are loaded and accessible in the KRC system
  3. 3Review KUKA smartPAD program editor to ensure proper fold structure syntax
  4. 4Confirm all tool offsets and base transformations are defined in the tool and base configuration files
  5. 5Add missing $BWDSTART statement at the beginning of the motion fold if not present
  6. 6Reload and recompile the KRL program in WorkVisual and restart the KRC4 controller

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