KUKA Robot codes
KUKA RobotSystemAdvanced

KRC0389

KUKA Robot KRC0389 - RUNTIME VALUES FOR TRIGGER IN SUBROUTINES INADMISSIBLE

RUNTIME VALUES FOR TRIGGER IN SUBROUTINES INADMISSIBLE

This alarm is triggered when a subroutine defines a trigger with runtime values that do not exist or are not yet valid at the time the trigger is activated in the main program. Runtime values referenced in trigger assignments must be properly scoped and initialized before the trigger executes in the calling context.

Common Causes

  • Trigger defined in a subroutine references local variables or parameters that are out of scope when the main program activates the trigger
  • Runtime values from function returns or COPY operations used in trigger logic before the source data is available or initialized
  • Trigger activation occurs in the main program before subroutine execution completes, causing race conditions with runtime value assignment
  • Parameter passing to subroutines does not properly establish the runtime values needed for trigger evaluation at activation time
  • Global variable dependencies in trigger conditions are modified asynchronously between subroutine definition and main program trigger activation

Troubleshooting Steps

  1. 1Examine the subroutine trigger definition and identify all runtime values referenced, noting their scope and initialization point
  2. 2Move trigger initialization from the subroutine to the main program to ensure runtime values are in scope and established before activation
  3. 3Declare runtime values as global variables in the main program if they must be accessed across subroutine and trigger boundaries
  4. 4Add synchronization checkpoints (WAIT statements or condition monitoring) to ensure trigger runtime values are valid before trigger activation
  5. 5Refactor the program structure to pass runtime values as subroutine parameters rather than relying on scope inheritance from the main program
  6. 6Test the trigger behavior by adding diagnostic output statements to verify runtime value availability at the moment of trigger activation

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