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KUKA Robot Controller
System · Basic
KUKA Robot KRC0300 - APPROXIMATION NOT POSSIBLE, TORQUE TOO HIGH
The approximation positioning block cannot execute because the robot velocity has not been sufficiently reduced in the preceding block. The transition distance is too short to decelerate from the current speed to the approximation velocity threshold.
KRC0300
KUKA Robot KRC0300 - APPROXIMATION NOT POSSIBLE, TORQUE TOO HIGH
APPROXIMATION NOT POSSIBLE, TORQUE TOO HIGH
The approximation positioning block cannot execute because the robot velocity has not been sufficiently reduced in the preceding block. The transition distance is too short to decelerate from the current speed to the approximation velocity threshold.
Common Causes
- Velocity in the preceding movement block is too high relative to the approximation deceleration distance available
- Block transition distance is shorter than the calculated deceleration ramp required for safe velocity reduction
- Approximation velocity tolerance is set too aggressively, requiring faster deceleration than physically possible
- KRL program was edited without recalculating transition distances after velocity parameters were changed
- Robot dynamics parameters in WorkVisual do not match actual load mass, causing deceleration calculations to be inaccurate
Troubleshooting Steps
- 1In the KRL program editor, examine the velocity setting in the block immediately preceding the approximation block and reduce it to a lower value
- 2Increase the distance of the preceding movement block to allow more space for velocity reduction before the approximation segment
- 3Modify the approximation velocity parameter (APPROX keyword) to use a higher value that is easier to reach with available deceleration distance
- 4Use the KUKA simulation in WorkVisual to run the program and visualize the velocity profile, confirming adequate deceleration ramp before approximation
- 5Verify that the robot load mass and dynamic parameters are correctly configured in WorkVisual to ensure accurate deceleration calculations
- 6Test the corrected program on the real robot starting from low execution speed percentage, gradually increasing to full speed while monitoring for recurrence
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