KRC0486

Common Causes

• Missing $VEL.CP assignment at the beginning of the program or before the first motion instruction
• Velocity variable was declared but never initialized with a numeric value
• Program logic error where motion commands execute before the velocity parameter is defined
• Incorrect syntax in velocity assignment (e.g., using wrong variable name or data type)
• Program was edited and the velocity initialization line was accidentally deleted or commented out

Troubleshooting Steps

1. 1Add a $VEL.CP assignment statement near the beginning of your program with a valid velocity value (e.g., $VEL.CP=0.5 for 50% of maximum velocity or $VEL.CP=100 for 100 mm/s absolute velocity)
2. 2Verify the correct syntax is used: ensure the assignment uses proper KRL syntax without typos in the variable name
3. 3Check that the velocity assignment occurs before any PTP or LIN motion commands in the program execution sequence
4. 4Confirm the assigned velocity value is within valid range (typically 0.001 to 1.0 for relative velocity or appropriate mm/s values for absolute velocity)
5. 5Review the program flow logic to ensure no conditional branches bypass the velocity initialization before motion commands
6. 6Clear the alarm, save the corrected program, and restart the robot controller to reload the updated motion parameters