KRC0410

Common Causes

• Attempting to copy array or structure data between different program channels within SWP1
• Using assignment statements with complex data types across channel boundaries in safety-related code
• Invoking system functions that internally perform cross-channel data transfers in SWP1 context
• Improperly configured variable scoping causing implicit channel-to-channel data movement
• Attempting to access or modify shared memory structures between execution channels in SWP1

Troubleshooting Steps

1. 1Review the KRC program code at the point where the alarm was triggered and identify any copy or assignment operations involving multiple channels
2. 2Verify that all data operations are confined to a single channel execution context and do not cross channel boundaries
3. 3Refactor complex data transfers by breaking them into simpler, single-channel operations or moving the operation to a different execution environment if SWP1 restrictions are not required
4. 4Check the variable declarations and ensure proper scoping to prevent implicit cross-channel data movement
5. 5Consult the KUKA KRC programming guidelines for SWP1 limitations and use approved methods for inter-channel communication if data sharing is necessary
6. 6Test the modified program in simulation mode before deploying to the physical robot controller to confirm the alarm no longer occurs