KUKA Robot codes
AxisMD

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KUKA Robot Controller

System · Basic

Alarm KRC0401

KUKA Robot KRC0401 - FAULTY FILE

This alarm indicates that the module file used for Tool Task Space (TTS) calculation contains incorrect or incompatible data structures that prevent proper kinematic transformation computations. The KRC controller cannot parse or validate the module's geometric or configuration parameters required for accurate TCP positioning and orientation in the tool coordinate frame.

KUKA RobotSystemBasic

KRC0401

KUKA Robot KRC0401 - FAULTY FILE

FAULTY FILE

This alarm indicates that the module file used for Tool Task Space (TTS) calculation contains incorrect or incompatible data structures that prevent proper kinematic transformation computations. The KRC controller cannot parse or validate the module's geometric or configuration parameters required for accurate TCP positioning and orientation in the tool coordinate frame.

Common Causes

  • Corrupted or incomplete module file in the system directory
  • Module file compiled with incompatible KRC software version
  • Missing or incorrect TTS configuration parameters in the module header
  • Tool data frame definition contains invalid numerical values or syntax errors
  • Module file not properly linked or loaded into the controller's working memory

Troubleshooting Steps

  1. 1Verify the module file exists in the correct system directory and check file integrity using the KRC file validation utility
  2. 2Confirm the module was compiled with the same or compatible KRC software version currently running on the controller
  3. 3Review the module's TTS configuration parameters in the source code and ensure all tool frame definitions are mathematically valid
  4. 4Reload or recompile the module file using the current KRC development environment to ensure proper formatting
  5. 5Check the KRC system logs for additional error messages that specify which parameter or section of the module is faulty
  6. 6If problem persists, restore the module from a known-good backup or regenerate it using the robot's configuration wizard

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