What causes KUKA Robot alarm KRC0484?

Missing $VEL_AXIS assignment in the program before axis motion command execution. Incorrect syntax or variable name when attempting to set axis velocity value. Program jump or conditional logic that skips velocity initialization code. Loading a program that references $VEL_AXIS without proper initialization in the startup routine. Using axis motion commands (PTP or LIN with axis-specific parameters) without prior velocity datum setup.

How do I fix KUKA Robot alarm KRC0484?

1. Review the program code and locate the motion command that triggered the alarm to identify which axis is affected 2. Add explicit $VEL_AXIS assignment before the offending motion command, e.g., '$VEL_AXIS = 100' for 100 degrees/second 3. Verify that velocity initialization code is not being skipped by conditional statements or program structure logic 4. Check that the assigned velocity value is within acceptable range (typically 1-360 degrees/second depending on axis) 5. Ensure the velocity datum is assigned at program start or within the relevant program section before any axis interpolated motion occurs 6. Save the corrected program and re-run to confirm the alarm is cleared and motion executes with the specified axis velocity

KUKA Robot codes

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KUKA Robot Controller

Servo/Axis · Advanced

Alarm KRC0484

KUKA Robot KRC0484 - Axis <axis number> velocity not programmed

This alarm indicates that no velocity value has been assigned to the program datum $VEL_AXIS for the specified robot axis before attempting axis-specific motion. The KUKA KRC controller requires explicit velocity programming for axis-interpolated movements, and this datum must be populated before execution of any motion commands using axis velocity control.

KUKA RobotServo/AxisAdvanced

KRC0484

KUKA Robot KRC0484 - Axis <axis number> velocity not programmed

Axis <axis number> velocity not programmed

Common Causes

Missing $VEL_AXIS assignment in the program before axis motion command execution
Incorrect syntax or variable name when attempting to set axis velocity value
Program jump or conditional logic that skips velocity initialization code
Loading a program that references $VEL_AXIS without proper initialization in the startup routine
Using axis motion commands (PTP or LIN with axis-specific parameters) without prior velocity datum setup

Troubleshooting Steps

1Review the program code and locate the motion command that triggered the alarm to identify which axis is affected
2Add explicit $VEL_AXIS assignment before the offending motion command, e.g., '$VEL_AXIS = 100' for 100 degrees/second
3Verify that velocity initialization code is not being skipped by conditional statements or program structure logic
4Check that the assigned velocity value is within acceptable range (typically 1-360 degrees/second depending on axis)
5Ensure the velocity datum is assigned at program start or within the relevant program section before any axis interpolated motion occurs
6Save the corrected program and re-run to confirm the alarm is cleared and motion executes with the specified axis velocity

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