KUKA Robot codes
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KUKA Robot Controller

System · Advanced

Alarm KRC0480

KUKA Robot KRC0480 - No trigger allowed in ISR or *.SUB

This alarm indicates that a TRIGGER statement was incorrectly programmed within an interrupt service routine (ISR) or a SUB (subroutine) module. The KUKA KRC controller does not permit trigger commands in these contexts because they can cause unpredictable program flow and conflict with real-time interrupt handling. Triggers are only valid in the main program body or in specifically designated program sections.

KUKA RobotSystemAdvanced

KRC0480

KUKA Robot KRC0480 - No trigger allowed in ISR or *.SUB

No trigger allowed in ISR or *.SUB

This alarm indicates that a TRIGGER statement was incorrectly programmed within an interrupt service routine (ISR) or a SUB (subroutine) module. The KUKA KRC controller does not permit trigger commands in these contexts because they can cause unpredictable program flow and conflict with real-time interrupt handling. Triggers are only valid in the main program body or in specifically designated program sections.

Common Causes

  • TRIGGER command placed inside an interrupt handler (ISR) function
  • TRIGGER statement embedded within a SUB module or subroutine call
  • Accidental nesting of TRIGGER within conditional logic in interrupt routines
  • Copied code from main program containing TRIGGER statements into interrupt or SUB modules without modification
  • Misunderstanding of KUKA KRC programming restrictions on asynchronous operations in interrupt contexts

Troubleshooting Steps

  1. 1Review the source code file where the alarm was triggered and locate all TRIGGER statements
  2. 2Identify which TRIGGER commands are located within ISR or SUB module definitions
  3. 3Move any problematic TRIGGER statements from interrupt handlers or subroutines into the main program body or appropriate program sections
  4. 4If trigger functionality is required, refactor the code to set flags within the ISR/SUB that are then checked in the main program loop where triggers can be safely executed
  5. 5Verify the program structure by checking function declarations and ensuring TRIGGER commands exist only in valid program scopes
  6. 6Recompile and download the corrected program to the controller, then clear the alarm and test the robot operation

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