What causes KUKA Robot alarm KRC0416?

IRSTOPMESS routine exists but does not contain the required SYNC() call within the power failure handler. SYNC() function call is present but placed in the wrong location within the interrupt handler logic. PowerFail interrupt handling code was modified and the SYNC() call was accidentally removed during program editing. User-defined interrupt handler overrides the default power failure response without implementing the synchronization function. KRL program uses legacy or incorrect syntax for the SYNC() function call that is not recognized by the KRC4 interpreter.

How do I fix KUKA Robot alarm KRC0416?

1. Locate the IRSTOPMESS routine in the KRL program source code and verify it exists in the main program file 2. Add or correct the SYNC() function call immediately after detecting the PowerFail event within the IRSTOPMESS handler 3. Ensure the SYNC() function is called before any other motion or safety-critical commands in the power failure routine 4. Verify the KRL syntax matches the KUKA documentation format and compile the program to check for syntax errors 5. Review the IRSTOPMESS routine structure against KUKA sample code templates to ensure proper implementation 6. Recompile the entire program and test the power failure response by cycling the system control power

KUKA Robot codes

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KUKA Robot Controller

Program/G-code · Basic

Alarm KRC0416

KUKA Robot KRC0416 - SYNC()CALL NOT PROGRAMMED

The SYNC function was not properly called in the IRSTOPMESS interrupt handler to acknowledge the PowerFail event. This failure to synchronize prevents the system from safely managing the power loss response and can result in undefined robot state or data loss.

KUKA RobotProgram/G-codeBasic

KRC0416

KUKA Robot KRC0416 - SYNC()CALL NOT PROGRAMMED

SYNC()CALL NOT PROGRAMMED

Common Causes

IRSTOPMESS routine exists but does not contain the required SYNC() call within the power failure handler
SYNC() function call is present but placed in the wrong location within the interrupt handler logic
PowerFail interrupt handling code was modified and the SYNC() call was accidentally removed during program editing
User-defined interrupt handler overrides the default power failure response without implementing the synchronization function
KRL program uses legacy or incorrect syntax for the SYNC() function call that is not recognized by the KRC4 interpreter

Troubleshooting Steps

1Locate the IRSTOPMESS routine in the KRL program source code and verify it exists in the main program file
2Add or correct the SYNC() function call immediately after detecting the PowerFail event within the IRSTOPMESS handler
3Ensure the SYNC() function is called before any other motion or safety-critical commands in the power failure routine
4Verify the KRL syntax matches the KUKA documentation format and compile the program to check for syntax errors
5Review the IRSTOPMESS routine structure against KUKA sample code templates to ensure proper implementation
6Recompile the entire program and test the power failure response by cycling the system control power

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