KUKA Robot codes
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KUKA Robot Controller

System · Basic

Alarm KRC0413

KUKA Robot KRC0413 - NOT ALLOWED REFERENCE SYSTEM

The selected reference system for manual motion is not compatible with the robots kinematic configuration. This occurs when attempting to use a reference frame that cannot be mathematically computed or physically achieved with the current kinematic structure.

KUKA RobotSystemBasic

KRC0413

KUKA Robot KRC0413 - NOT ALLOWED REFERENCE SYSTEM

NOT ALLOWED REFERENCE SYSTEM

The selected reference system for manual motion is not compatible with the robots kinematic configuration. This occurs when attempting to use a reference frame that cannot be mathematically computed or physically achieved with the current kinematic structure.

Common Causes

  • Selection of WORLD or BASE reference system on a robot with incompatible kinematic chain structure
  • Attempting to use Tool reference frame before proper tool kinematics have been defined in the configuration
  • Reference system selection incompatible with a SCARA or gantry robot kinematic type
  • Manual motion reference system setting does not match the mechanical configuration of the installed robot
  • Invalid reference frame stored in the system configuration that was created for a different robot model

Troubleshooting Steps

  1. 1Verify the robots kinematic type matches the reference system being requested in the KUKA smartPAD menu
  2. 2Confirm that the Tool frame has been properly defined and calibrated before attempting TOOL reference motion
  3. 3Access the Robot menu on the KUKA smartPAD and verify the correct robot model is selected in the configuration
  4. 4Review the kinematic parameters in WorkVisual to ensure they match the physical robot installation
  5. 5Select only supported reference systems for your kinematic type such as WORLD for six-axis articulated robots
  6. 6Reload the robot configuration from the backup or reinitialize the kinematic parameters through the KUKA smartPAD

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