KRC0461

Common Causes

• Circular angle parameter exceeds 360 degrees or is negative without proper direction specification
• Incorrect syntax in CIRC instruction with malformed angle value or missing required parameters
• Intermediate point (CP) is collinear with start and end points, making arc geometry impossible
• Radius value calculated from geometry is zero or negative due to invalid point definition
• Motion instruction references undefined or corrupted variable containing the angle parameter

Troubleshooting Steps

1. 1Verify the CIRC command syntax in the source code and confirm all parameters (start point, intermediate point, end point, angle) are properly defined and within valid ranges
2. 2Check that the angle parameter is between 0° and 360°; if larger arcs are needed, split into multiple circular segments or use alternative motion commands
3. 3Validate that the intermediate point (CP) forms a valid triangle with start and end points and is not collinear with them
4. 4Review the radius calculation and confirm that start point, intermediate point, and end point geometry produces a positive, non-zero radius value
5. 5Test the motion program in simulation mode using KUKA.Sim or teach pendant to visualize the circular path and identify geometric conflicts
6. 6If using variables for angle parameters, verify they are initialized with valid numerical values before the CIRC instruction executes