KRC0315

Common Causes

• ASYPTP command targets a decoupled auxiliary axis without proper axis coupling configuration
• Program attempts to move a decoupled rotary axis or linear axis using ASYPTP instead of synchronous PTP
• Incorrect axis declaration or axis group definition excludes auxiliary axes from coupling
• Decoupled axis configuration changed after program was written, creating incompatibility with existing ASYPTP commands
• Mixing of synchronous and asynchronous motion commands with decoupled auxiliary axes in the same program segment

Troubleshooting Steps

1. 1Verify the target position data structure and confirm which axes are included in the ASYPTP command using the Program Overview or variable inspection
2. 2Check the axis coupling configuration in the robot's system data (Axis.dat or equivalent) to identify which axes are decoupled
3. 3Replace ASYPTP commands with synchronous PTP (Move) commands when decoupled auxiliary axes must be included in the motion
4. 4If ASYPTP is required, remove decoupled auxiliary axes from the target position and execute them separately using coupled motion commands
5. 5Review the axis group definitions in the KRC configuration to ensure auxiliary axes are properly coupled to the main robot kinematic chain if simultaneous motion is needed
6. 6Test the corrected program in T1 mode with reduced speed before resuming automatic operation