KUKA Robot codes
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KUKA Robot Controller

System · Intermediate

Alarm KRC0298

KUKA Robot KRC0298 - DEVIATION IN THE START POINT

This alarm occurs when a Point-to-Point (PTP) motion instruction attempts to execute with a sensor offset value applied, but the robot's current start position deviates from the expected programmed position. The KRC controller detects an inconsistency between the actual TCP position and the offset-adjusted target coordinates, preventing motion execution to ensure path safety and accuracy.

KUKA RobotSystemIntermediate

KRC0298

KUKA Robot KRC0298 - DEVIATION IN THE START POINT

DEVIATION IN THE START POINT

This alarm occurs when a Point-to-Point (PTP) motion instruction attempts to execute with a sensor offset value applied, but the robot's current start position deviates from the expected programmed position. The KRC controller detects an inconsistency between the actual TCP position and the offset-adjusted target coordinates, preventing motion execution to ensure path safety and accuracy.

Common Causes

  • Sensor offset value is too large relative to the current TCP position deviation
  • Robot position was manually moved or jogged after program start without updating position data
  • Inaccurate or uncalibrated external sensor providing offset compensation values
  • Mismatch between coordinate frame definitions and actual TCP offset application
  • Tool or workpiece reference frame changed without corresponding offset recalculation

Troubleshooting Steps

  1. 1Verify the current robot position matches the programmed start point by jogging to home position and re-synchronizing coordinates
  2. 2Review the sensor offset values in the program and confirm they are within acceptable tolerance limits for the motion range
  3. 3Recalibrate or reinitialize the external sensor providing offset data and verify signal integrity
  4. 4Check the coordinate frame definitions (BASE_DATA, TOOL_DATA) to ensure consistency with offset calculations
  5. 5Execute a manual position initialization (HOME run) to reset the position tracking and clear accumulated errors
  6. 6Clear the alarm and retry the PTP motion; if persistent, modify the offset parameters or add intermediate positioning steps to reduce deviation

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