What causes KUKA Robot alarm KRC0488?

Program variables $VEL.ORI1 and/or $VEL.ORI2 were never initialized at program start. Variables were cleared or reset during program execution without being re-assigned. Motion instruction with orientation component (LIN, CIRC) executed before velocity initialization. Incorrect variable syntax or typo in variable assignment preventing proper initialization. Default program template or subroutine missing initialization block for orientation velocities.

How do I fix KUKA Robot alarm KRC0488?

1. Add initialization statements at the beginning of your KRL program: $VEL.ORI1 = and $VEL.ORI2 = (typical range 5-90 deg/s) 2. Verify the variable names are spelled correctly with proper case sensitivity: $VEL.ORI1 and $VEL.ORI2 3. Check that velocity assignments occur before any motion commands that involve orientation changes 4. Review the complete program flow to ensure variables are not being cleared or overwritten by subroutine calls 5. Use the KUKA teach pendant to manually set orientation velocity values via the Variables menu as a temporary test 6. Consult your program structure and add velocity initialization to all relevant program sections or use a centralized initialization routine

KUKA Robot codes

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KUKA Robot Controller

Program/G-code · Advanced

Alarm KRC0488

KUKA Robot KRC0488 - Orientation velocity not programmed

This alarm occurs when the robot controller attempts to execute an orientation-based motion command without the required orientation velocity parameters being defined in the program. The $VEL.ORI1 and $VEL.ORI2 variables control the rotational velocity around the primary and secondary orientation axes respectively, and must be assigned valid values before any LIN or CIRC motion with orientation changes can be executed.

KUKA RobotProgram/G-codeAdvanced

KRC0488

KUKA Robot KRC0488 - Orientation velocity not programmed

Orientation velocity not programmed

Common Causes

Program variables $VEL.ORI1 and/or $VEL.ORI2 were never initialized at program start
Variables were cleared or reset during program execution without being re-assigned
Motion instruction with orientation component (LIN, CIRC) executed before velocity initialization
Incorrect variable syntax or typo in variable assignment preventing proper initialization
Default program template or subroutine missing initialization block for orientation velocities

Troubleshooting Steps

1Add initialization statements at the beginning of your KRL program: $VEL.ORI1 = <value in deg/s> and $VEL.ORI2 = <value in deg/s> (typical range 5-90 deg/s)
2Verify the variable names are spelled correctly with proper case sensitivity: $VEL.ORI1 and $VEL.ORI2
3Check that velocity assignments occur before any motion commands that involve orientation changes
4Review the complete program flow to ensure variables are not being cleared or overwritten by subroutine calls
5Use the KUKA teach pendant to manually set orientation velocity values via the Variables menu as a temporary test
6Consult your program structure and add velocity initialization to all relevant program sections or use a centralized initialization routine

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