What causes KUKA Robot alarm KRC0437?

KRL program contains PTP motion command with Cartesian coordinates (XYZABC frame) instead of axis angles. $DEF_A4FIX parameter is set to TRUE in the system configuration, fixing the 5th axis behavior. $PAL_MODE is set to FALSE, disabling the palletizing motion mode that would allow Cartesian targets. Motion instruction uses MOVE or PTP with frame-based target instead of axis-specific AXIS notation. Program was ported from a different robot configuration without updating motion command syntax for current parameter settings.

How do I fix KUKA Robot alarm KRC0437?

1. Open the KRL source code and locate the failing PTP motion command that specifies Cartesian coordinates 2. Convert the Cartesian target position to axis-specific coordinates using the inverse kinematics conversion available in WorkVisual 3. Modify the motion instruction syntax from MOVE P1 {X 100, Y 200, Z 300} to MOVE P1 {A1 10, A2 20, A3 30, A4 40, A5 50, A6 60} 4. Review system parameters $DEF_A4FIX and $PAL_MODE in the configuration files and adjust if the current settings do not match intended operation 5. If Cartesian motion is required, enable palletizing mode by setting $PAL_MODE=TRUE or disable axis-specific mode with $DEF_A4FIX=FALSE 6. Recompile and test the modified KRL program on the teach pendant before executing on the production cell

KUKA Robot codes

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KUKA Robot Controller

System · Intermediate

Alarm KRC0437

KUKA Robot KRC0437 - CARTESIAN TARGET NOT POSSIBLE

When operating a 5-axis robot with axis-specific configuration enabled ($DEF_A4FIX=TRUE) and palletizing mode disabled ($PAL_MODE=FALSE), the system does not permit Cartesian target position commands in PTP (point-to-point) motions. Only axis-specific target positions defined in joint angle notation are allowed for this configuration.

KUKA RobotSystemIntermediate

KRC0437

KUKA Robot KRC0437 - CARTESIAN TARGET NOT POSSIBLE

CARTESIAN TARGET NOT POSSIBLE

Common Causes

KRL program contains PTP motion command with Cartesian coordinates (XYZABC frame) instead of axis angles
$DEF_A4FIX parameter is set to TRUE in the system configuration, fixing the 5th axis behavior
$PAL_MODE is set to FALSE, disabling the palletizing motion mode that would allow Cartesian targets
Motion instruction uses MOVE or PTP with frame-based target instead of axis-specific AXIS notation
Program was ported from a different robot configuration without updating motion command syntax for current parameter settings

Troubleshooting Steps

1Open the KRL source code and locate the failing PTP motion command that specifies Cartesian coordinates
2Convert the Cartesian target position to axis-specific coordinates using the inverse kinematics conversion available in WorkVisual
3Modify the motion instruction syntax from MOVE P1 {X 100, Y 200, Z 300} to MOVE P1 {A1 10, A2 20, A3 30, A4 40, A5 50, A6 60}
4Review system parameters $DEF_A4FIX and $PAL_MODE in the configuration files and adjust if the current settings do not match intended operation
5If Cartesian motion is required, enable palletizing mode by setting $PAL_MODE=TRUE or disable axis-specific mode with $DEF_A4FIX=FALSE
6Recompile and test the modified KRL program on the teach pendant before executing on the production cell

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