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KUKA Robot Controller
Parameter · Basic
KUKA Robot KRC0435 - OUT PARAMETERS INADMISSIBLE
This alarm occurs when a subprogram is called with output parameters that cannot be processed or are incompatible with the reference parameter transfer mechanism. The KRC controller detects that the output parameters passed to or from the subprogram call do not meet the required specifications for reference parameter handling, preventing proper data transfer between the calling program and the subprogram.
KRC0435
KUKA Robot KRC0435 - OUT PARAMETERS INADMISSIBLE
OUT PARAMETERS INADMISSIBLE
This alarm occurs when a subprogram is called with output parameters that cannot be processed or are incompatible with the reference parameter transfer mechanism. The KRC controller detects that the output parameters passed to or from the subprogram call do not meet the required specifications for reference parameter handling, preventing proper data transfer between the calling program and the subprogram.
Common Causes
- Output parameter data type mismatch between caller and subprogram declaration
- Attempt to pass non-reference types (literals, constants, or expressions) as output parameters instead of variables
- Subprogram output parameter declared as incompatible structure or array type
- Missing or incorrect parameter declaration in the subprogram signature
- Passing read-only or protected variables as output parameters
Troubleshooting Steps
- 1Verify the subprogram parameter declarations match the calling program data types exactly, especially for output parameters
- 2Ensure all output parameters in the subprogram call are actual variables, not literals, expressions, or constants
- 3Check that output parameters are declared with correct KUKA data types (REAL, INT, BOOL, AXIS, etc.) in both caller and subprogram
- 4Confirm the subprogram definition uses proper KUKA syntax for output parameters (declared in parentheses with appropriate direction specifiers)
- 5Review the parameter passing mechanism - ensure reference parameters are used correctly and variables are writable
- 6Reload the program file and reset the controller if parameter definitions have been recently modified, then test the subprogram call again
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