What causes KUKA Robot alarm KRC0485?

Missing initialization of $ACC.CP in the program header or startup sequence. Accidental deletion or commenting out of the $ACC.CP assignment statement. Program transfer from another robot model without updating motion parameter declarations. Using a template or subprogram that does not include the required parameter setup. Loading a program created for a different KRC controller version with different initialization requirements.

How do I fix KUKA Robot alarm KRC0485?

1. Review the program source code and verify that $ACC.CP is declared and assigned a numerical value (typically in mm/s²) in the initialization section before any motion commands 2. Add the line '$ACC.CP = ' (e.g., '$ACC.CP = 500') at the beginning of the program, after variable declarations and before any PTP or LIN motion commands 3. Check the KUKA.Sim or KRC documentation for the appropriate acceleration value range for your specific robot model and payload 4. Confirm that the parameter is not conditionally commented out or located after motion command execution in the program logic 5. Verify the program syntax is correct and reload the program into the controller using the proper file transfer or IDE compilation method 6. Test the program by executing a simple motion command to ensure the alarm no longer occurs and the robot responds with expected acceleration behavior

KUKA Robot codes

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KUKA Robot Controller

Program/G-code · Advanced

Alarm KRC0485

KUKA Robot KRC0485 - Path acceleration not programmed

This alarm indicates that the Cartesian path acceleration parameter ($ACC.CP) has not been assigned a value in the active program or initialization routine. The KRC controller requires this system variable to be explicitly set before executing any Cartesian motion commands that utilize path acceleration control. Without this parameter defined, the controller cannot properly execute interpolated movements along a programmed path.

KUKA RobotProgram/G-codeAdvanced

KRC0485

KUKA Robot KRC0485 - Path acceleration not programmed

Path acceleration not programmed

Common Causes

Missing initialization of $ACC.CP in the program header or startup sequence
Accidental deletion or commenting out of the $ACC.CP assignment statement
Program transfer from another robot model without updating motion parameter declarations
Using a template or subprogram that does not include the required parameter setup
Loading a program created for a different KRC controller version with different initialization requirements

Troubleshooting Steps

1Review the program source code and verify that $ACC.CP is declared and assigned a numerical value (typically in mm/s²) in the initialization section before any motion commands
2Add the line '$ACC.CP = <value>' (e.g., '$ACC.CP = 500') at the beginning of the program, after variable declarations and before any PTP or LIN motion commands
3Check the KUKA.Sim or KRC documentation for the appropriate acceleration value range for your specific robot model and payload
4Confirm that the parameter is not conditionally commented out or located after motion command execution in the program logic
5Verify the program syntax is correct and reload the program into the controller using the proper file transfer or IDE compilation method
6Test the program by executing a simple motion command to ensure the alarm no longer occurs and the robot responds with expected acceleration behavior

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