KUKA Robot codes
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KUKA Robot Controller

System · Basic

Alarm KRC0304

KUKA Robot KRC0304 - INTERNAL ERROR IN PTP MOTION PLANNING <number>

This alarm indicates a critical failure in the point-to-point (PTP) motion profile generation algorithm within the KRC controller's motion planning module. The error occurs when the controller cannot compute a valid trajectory that respects axis velocity, acceleration, and jerk limits while moving from the current position to the target position. This typically suggests incompatible motion parameters, corrupted axis configuration data, or an internal computational overflow in the interpolation routine.

KUKA RobotSystemBasic

KRC0304

KUKA Robot KRC0304 - INTERNAL ERROR IN PTP MOTION PLANNING <number>

INTERNAL ERROR IN PTP MOTION PLANNING <number>

This alarm indicates a critical failure in the point-to-point (PTP) motion profile generation algorithm within the KRC controller's motion planning module. The error occurs when the controller cannot compute a valid trajectory that respects axis velocity, acceleration, and jerk limits while moving from the current position to the target position. This typically suggests incompatible motion parameters, corrupted axis configuration data, or an internal computational overflow in the interpolation routine.

Common Causes

  • Axis velocity or acceleration limits set to zero or invalid values in the robot's mechanical data
  • Corrupted or missing axis configuration parameters in the robot's configuration files
  • Target position unreachable due to singularities or workspace violations that the planner cannot resolve
  • Extremely high motion velocities or acceleration values that exceed the controller's computational capacity
  • Defective encoder feedback or axis initialization causing inconsistent position data for trajectory planning

Troubleshooting Steps

  1. 1Verify all axis velocity and acceleration limits are properly configured in the Mechanical Data (Achsgruppendaten) and are greater than zero
  2. 2Perform a complete power cycle (hardware reset) of the KRC controller to clear any corrupted runtime variables
  3. 3Check and reload the robot's configuration files, particularly the axis group settings and kinematic parameters, using KUKA.Configurator or the appropriate diagnostic tool
  4. 4Test PTP motion with reduced velocity and acceleration parameters to isolate whether the issue is parameter-dependent
  5. 5Verify axis encoder signals and perform axis initialization (Achsinitialisierung) to ensure accurate position feedback for all robot axes
  6. 6If the alarm persists, contact KUKA support and provide diagnostic logs from the KRC controller's error memory for deep-level analysis

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