What causes KUKA Robot alarm KRC0423?

Normal program startup sequence where the robot reaches its first defined waypoint. Program restart after pause or emergency stop recovery. Execution of a program with an explicit movement command to the initial position. Completion of teach pendant jog operations before program execution begins. Robot returning to home or reference position at the start of program cycle.

How do I fix KUKA Robot alarm KRC0423?

1. Verify that the robot has physically reached the correct starting position by visual inspection and comparing actual joint angles to programmed values in the KRC controller display 2. Check the program logic in the KRC editor to ensure the first position waypoint is correctly defined and appropriate for your application 3. Confirm that no mechanical obstructions or workspace violations prevented the robot from reaching the intended position smoothly 4. Review the motion parameters (velocity, acceleration) in the SRC program to ensure the robot moved at expected speeds without excessive delays 5. Clear this informational alarm by acknowledging it on the smartPAD teach pendant or through the KRC controller interface and proceed with program execution 6. Monitor subsequent program execution to confirm the robot continues normally and completes the intended task sequence without additional alarms

KUKA Robot codes

axismd.ai

KUKA Robot Controller

System · Basic

Alarm KRC0423

KUKA Robot KRC0423 - BCO REACHED

This alarm indicates that the robot has successfully reached the first position defined in the user program after startup or program restart. BCO (Beginning of Code) REACHED is a status notification that confirms the robot arm has completed its initial motion to the programmed starting position and is ready to execute the main program sequence. This is typically a non-critical informational alarm that occurs during normal program initialization.

KUKA RobotSystemBasic

KRC0423

KUKA Robot KRC0423 - BCO REACHED

BCO REACHED

Common Causes

Normal program startup sequence where the robot reaches its first defined waypoint
Program restart after pause or emergency stop recovery
Execution of a program with an explicit movement command to the initial position
Completion of teach pendant jog operations before program execution begins
Robot returning to home or reference position at the start of program cycle

Troubleshooting Steps

1Verify that the robot has physically reached the correct starting position by visual inspection and comparing actual joint angles to programmed values in the KRC controller display
2Check the program logic in the KRC editor to ensure the first position waypoint is correctly defined and appropriate for your application
3Confirm that no mechanical obstructions or workspace violations prevented the robot from reaching the intended position smoothly
4Review the motion parameters (velocity, acceleration) in the SRC program to ensure the robot moved at expected speeds without excessive delays
5Clear this informational alarm by acknowledging it on the smartPAD teach pendant or through the KRC controller interface and proceed with program execution
6Monitor subsequent program execution to confirm the robot continues normally and completes the intended task sequence without additional alarms

Seeing Multiple Alarms?

Seeing another alarm with this one? Enter the code.

Get machine-aware diagnosis

AxisMD logs alarms against your actual machines, tracks patterns, and gives AI context your manual doesn't have.

Start free

Was this guide helpful?

Always verify with your machine manual or a certified technician before performing service procedures.