KUKA Robot codes
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KUKA Robot Controller

System · Intermediate

Alarm KRC0285

KUKA Robot KRC0285 - BLOCK CHANGE AT STOP

A block change occurs simultaneously with maximum braking or path-maintaining stop, preventing the system from accurately calculating $POS_RET return position and system time. The controller defaults to using the beginning of the new block for these critical parameters, causing position tracking errors.

KUKA RobotSystemIntermediate

KRC0285

KUKA Robot KRC0285 - BLOCK CHANGE AT STOP

BLOCK CHANGE AT STOP

A block change occurs simultaneously with maximum braking or path-maintaining stop, preventing the system from accurately calculating $POS_RET return position and system time. The controller defaults to using the beginning of the new block for these critical parameters, causing position tracking errors.

Common Causes

  • Program block transition executed during path-maintaining Emergency Stop deceleration phase
  • $POS_RET calculation requested at exact moment of maximum braking activation
  • Block jump or conditional branch triggered simultaneously with SafeOperation stop command
  • Rapid program restart initiated before previous block braking sequence completed
  • Motion instruction changed while robot executing ramp-down deceleration curve

Troubleshooting Steps

  1. 1Review program structure to identify blocks that change during braking and add delay statements
  2. 2Insert DELAY command after SafeOperation stop to allow complete deceleration before next block
  3. 3Check that $POS_RET is only accessed after robot reaches complete standstill, not during braking transition
  4. 4Verify emergency stop configuration in SafeOperation module does not conflict with block change logic
  5. 5Use KUKA smartPAD diagnostic mode to monitor $POS_RET values and confirm they stabilize before block transition
  6. 6Modify program to separate motion commands from block transitions and re-test with emergency stop scenarios

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