KUKA Robot codes
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KUKA Robot Controller

System · Advanced

Alarm KRC0286

KUKA Robot KRC0286 - TTS NOT EXISTING

The tool coordinate system X-axis is parallel to the current path tangent direction, making tool-based technological system calculations impossible. This geometric conflict prevents the controller from computing the required TTS orientation and motion parameters for the active instruction.

KUKA RobotSystemAdvanced

KRC0286

KUKA Robot KRC0286 - TTS NOT EXISTING

TTS NOT EXISTING

The tool coordinate system X-axis is parallel to the current path tangent direction, making tool-based technological system calculations impossible. This geometric conflict prevents the controller from computing the required TTS orientation and motion parameters for the active instruction.

Common Causes

  • Tool orientation programmed parallel to linear path direction in TCP motion block
  • Tool coordinate system X-axis not properly defined relative to tool geometry in $TOOL.DAT
  • PTP motion to intermediate point results in accidental parallelism between tool X-axis and next LIN path
  • Curved path segment has tangent direction matching tool X-axis orientation from previous block
  • Tool definition in WorkVisual contains incorrect rotation values causing alignment with path vector

Troubleshooting Steps

  1. 1Examine active KRL instruction and verify tool orientation is not collinear with motion direction
  2. 2Review tool calibration in $TOOL.DAT and confirm tool X-axis points toward tool tip or cutting edge correctly
  3. 3Insert intermediate PTP block to reorient tool before problematic LIN or CIRC instruction executes
  4. 4Check WorkVisual tool definition and recalibrate tool coordinate system if misalignment suspected
  5. 5Modify path geometry slightly by adding intermediate waypoints that avoid parallel orientation
  6. 6Test corrected program with teach pendant and verify TTS calculations complete without error

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