What causes KUKA Robot alarm KRC0474?

KRL program contains a MOVE, LIN, CIRC, or other motion instruction within an interrupt module definition. Developer added motion recovery code inside an error handler without understanding the KRC4 constraint on interrupt routines. Interrupt routine imported from another program template that included motion instructions incompatible with error handling. Misplaced motion instruction within the scope of an INTERRUPT declaration in the KRL source code. Attempt to reposition the robot to a safe state inside the interrupt routine instead of using a separate safe motion sequence.

How do I fix KUKA Robot alarm KRC0474?

1. Open the KRL program source code in the editor and locate all INTERRUPT declarations and their associated routine definitions 2. Remove any motion instructions (MOVE, LIN, CIRC, SLIN, etc.) from inside the interrupt routine module 3. Create a separate non-interrupt subroutine that performs necessary robot repositioning and call it after the interrupt routine completes 4. If safe positioning is required, implement this logic in the main program flow after the error condition is handled and cleared 5. Use only non-motion commands in the interrupt handler such as variable assignments, I/O operations, or logging functions 6. Recompile the KRL program in the KRC4 editor and verify the alarm no longer appears before resuming robot operation

KUKA Robot codes

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KUKA Robot Controller

System · Intermediate

Alarm KRC0474

KUKA Robot KRC0474 - Interrupt instruction aborted

This alarm indicates that a motion instruction was placed inside an interrupt routine (error handler) that executes after an error stop or fault condition occurs. The KRC4 controller prohibits motion commands within interrupt modules to ensure system stability and prevent dangerous robot movements during fault recovery procedures.

KUKA RobotSystemIntermediate

KRC0474

KUKA Robot KRC0474 - Interrupt instruction aborted

Interrupt instruction aborted

Common Causes

KRL program contains a MOVE, LIN, CIRC, or other motion instruction within an interrupt module definition
Developer added motion recovery code inside an error handler without understanding the KRC4 constraint on interrupt routines
Interrupt routine imported from another program template that included motion instructions incompatible with error handling
Misplaced motion instruction within the scope of an INTERRUPT declaration in the KRL source code
Attempt to reposition the robot to a safe state inside the interrupt routine instead of using a separate safe motion sequence

Troubleshooting Steps

1Open the KRL program source code in the editor and locate all INTERRUPT declarations and their associated routine definitions
2Remove any motion instructions (MOVE, LIN, CIRC, SLIN, etc.) from inside the interrupt routine module
3Create a separate non-interrupt subroutine that performs necessary robot repositioning and call it after the interrupt routine completes
4If safe positioning is required, implement this logic in the main program flow after the error condition is handled and cleared
5Use only non-motion commands in the interrupt handler such as variable assignments, I/O operations, or logging functions
6Recompile the KRL program in the KRC4 editor and verify the alarm no longer appears before resuming robot operation

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