KUKA Robot codes
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KUKA Robot Controller

System · Basic

Alarm KRC0430

KUKA Robot KRC0430 - TTS CANNOT BE DETERMINED

The TTS (toolbased technological system) search algorithm has terminated without successfully identifying the path direction point during tool-based motion planning. This typically occurs when the robot cannot calculate a valid approach vector for the current TCP position relative to the defined workpiece geometry or collision boundaries.

KUKA RobotSystemBasic

KRC0430

KUKA Robot KRC0430 - TTS CANNOT BE DETERMINED

TTS CANNOT BE DETERMINED

The TTS (toolbased technological system) search algorithm has terminated without successfully identifying the path direction point during tool-based motion planning. This typically occurs when the robot cannot calculate a valid approach vector for the current TCP position relative to the defined workpiece geometry or collision boundaries.

Common Causes

  • TCP offset values are incorrect or not properly calibrated for the mounted tool
  • Workpiece coordinate system definition conflicts with the actual physical tool geometry
  • Tool collision geometry in WorkVisual does not match the real tool dimensions
  • Path direction point lies in a singularity zone or unreachable workspace region
  • TTS database file is corrupted or missing required tool definition parameters

Troubleshooting Steps

  1. 1Verify TCP offset values using manual tool measurement and compare against $TOOL data in the active tool frame
  2. 2Check WorkVisual project for correct tool collision geometry and ensure all tool models are up to date
  3. 3Confirm the workpiece coordinate system orientation matches the physical setup using a teach pendant
  4. 4Review KRL program logic for TTS commands and validate that target points are within robot workspace using $AXIS_ACT values
  5. 5Reload the TTS database and recompile the KRL source code using WorkVisual project rebuild function
  6. 6If issue persists, perform a complete tool recalibration using the SafeOperation tool calibration procedure and reinitialize the KUKA smartPAD

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