What causes KUKA Robot alarm KRC0301?

Singularity or unreachable target position within the robot's workspace. Conflicting or invalid motion parameters in the APPR block (velocity, acceleration, or orientation specifications). Insufficient clearance or collision detection preventing path planning around obstacles. Corrupted or inconsistent kinematic model data in the controller memory. Incompatible tool center point (TCP) offset or load data causing calculation errors.

How do I fix KUKA Robot alarm KRC0301?

1. Verify the target position is within the robot's reachable workspace using KUKA.Sim or teach pendant position validation 2. Check the APPR motion block syntax in the program for invalid parameters such as unrealistic velocity or acceleration values 3. Clear any active collision monitoring zones or safety boundaries that may be restricting the motion path 4. Perform a kinematic calibration reset and reload the robot configuration files from backup to restore valid model data 5. Verify the TCP offset and tool load parameters are correctly defined and match the physical tool mounted on the robot 6. Reset the KRC controller by performing a warm restart and then attempt the motion command again after the system reinitializes

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0301

KUKA Robot KRC0301 - APPROX. NOT POSSIBLE INTERNAL ERROR IN PTP MOTION PLAN

This alarm indicates an internal computational failure in the point-to-point (PTP) motion planning module when processing an approximate positioning block (APPR motion). The KRC controller cannot calculate a valid trajectory or interpolation for the specified motion parameters, preventing the robot from executing the commanded movement.

KUKA RobotSystemBasic

KRC0301

KUKA Robot KRC0301 - APPROX. NOT POSSIBLE INTERNAL ERROR IN PTP MOTION PLAN

APPROX. NOT POSSIBLE INTERNAL ERROR IN PTP MOTION PLAN

Common Causes

Singularity or unreachable target position within the robot's workspace
Conflicting or invalid motion parameters in the APPR block (velocity, acceleration, or orientation specifications)
Insufficient clearance or collision detection preventing path planning around obstacles
Corrupted or inconsistent kinematic model data in the controller memory
Incompatible tool center point (TCP) offset or load data causing calculation errors

Troubleshooting Steps

1Verify the target position is within the robot's reachable workspace using KUKA.Sim or teach pendant position validation
2Check the APPR motion block syntax in the program for invalid parameters such as unrealistic velocity or acceleration values
3Clear any active collision monitoring zones or safety boundaries that may be restricting the motion path
4Perform a kinematic calibration reset and reload the robot configuration files from backup to restore valid model data
5Verify the TCP offset and tool load parameters are correctly defined and match the physical tool mounted on the robot
6Reset the KRC controller by performing a warm restart and then attempt the motion command again after the system reinitializes

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