What causes KUKA Robot alarm KRC0436?

Path trigger defined in program logic during a PTP motion instruction. Incorrect motion type selected in the motion block (PTP instead of LIN/CIRC). Legacy program code mixing incompatible trigger types with PTP commands. Trigger condition set to activate based on path position when using PTP interpolation. Misconfigured TRIGGER statement parameters associated with a PTP command.

How do I fix KUKA Robot alarm KRC0436?

1. Review the program code around the PTP motion command where the alarm is triggered and identify any associated TRIGGER or output statements 2. Change the motion type from PTP to LIN if the application permits linear interpolation between points 3. Remove or relocate any path-based trigger commands to execute before or after the PTP motion rather than during it 4. If path triggering is required, convert the PTP motion to an equivalent LIN motion with appropriate velocity parameters 5. Verify the trigger condition syntax and ensure it is not inadvertently linked to the PTP instruction using proper program structure and indentation 6. Test the corrected program in teach mode at reduced speed before returning to normal operation

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0436

KUKA Robot KRC0436 - PATH TRIGGER WITH PTP MOTION INADMISSIBLE

This alarm occurs when a path trigger (such as a digital output or flag) is configured to activate during a PTP (Point-to-Point) motion command. Path triggers are only compatible with linear (LIN) and circular (CIRC) interpolated motions, not with PTP motions which follow a non-linear joint-space trajectory. The controller detects this incompatibility and halts execution to prevent unpredictable behavior.

KUKA RobotSystemBasic

KRC0436

KUKA Robot KRC0436 - PATH TRIGGER WITH PTP MOTION INADMISSIBLE

PATH TRIGGER WITH PTP MOTION INADMISSIBLE

Common Causes

Path trigger defined in program logic during a PTP motion instruction
Incorrect motion type selected in the motion block (PTP instead of LIN/CIRC)
Legacy program code mixing incompatible trigger types with PTP commands
Trigger condition set to activate based on path position when using PTP interpolation
Misconfigured TRIGGER statement parameters associated with a PTP command

Troubleshooting Steps

1Review the program code around the PTP motion command where the alarm is triggered and identify any associated TRIGGER or output statements
2Change the motion type from PTP to LIN if the application permits linear interpolation between points
3Remove or relocate any path-based trigger commands to execute before or after the PTP motion rather than during it
4If path triggering is required, convert the PTP motion to an equivalent LIN motion with appropriate velocity parameters
5Verify the trigger condition syntax and ensure it is not inadvertently linked to the PTP instruction using proper program structure and indentation
6Test the corrected program in teach mode at reduced speed before returning to normal operation

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