What causes KUKA Robot alarm KRC0505?

Circle angle value is mathematically invalid for the given start and end points. Auxiliary point CP is collinear with start and end points preventing arc definition. Circle angle exceeds 360 degrees or is zero in the motion instruction. Kinematic singularity prevents proper arc contour calculation during path planning. Inconsistent orientation frame or coordinate system between motion block parameters.

How do I fix KUKA Robot alarm KRC0505?

1. Review the CIRC instruction parameters to verify circle angle is between 0 and 360 degrees 2. Confirm the auxiliary point CP is not collinear with start point and end point positions 3. Validate start point, end point, and auxiliary point using teach pendant or diagnostic display 4. Check for kinematic singularities near the motion path using KUKA.Sim or offline simulation 5. Recalculate the circle angle using proper arc geometry if manual programming 6. Reprogram the CIRC block with corrected parameters or substitute with LIN motions if arc is not critical

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0505

KUKA Robot KRC0505 - Target point not reached

The KRC0505 alarm occurs when a CIRC block with a specified circle angle cannot determine a valid contour for the arc motion. When this alarm is triggered, the robot defaults to executing a linear LIN motion to the programmed target point instead of the intended circular interpolation.

KUKA RobotSystemBasic

KRC0505

KUKA Robot KRC0505 - Target point not reached

Target point not reached

Common Causes

Circle angle value is mathematically invalid for the given start and end points
Auxiliary point CP is collinear with start and end points preventing arc definition
Circle angle exceeds 360 degrees or is zero in the motion instruction
Kinematic singularity prevents proper arc contour calculation during path planning
Inconsistent orientation frame or coordinate system between motion block parameters

Troubleshooting Steps

1Review the CIRC instruction parameters to verify circle angle is between 0 and 360 degrees
2Confirm the auxiliary point CP is not collinear with start point and end point positions
3Validate start point, end point, and auxiliary point using teach pendant or diagnostic display
4Check for kinematic singularities near the motion path using KUKA.Sim or offline simulation
5Recalculate the circle angle using proper arc geometry if manual programming
6Reprogram the CIRC block with corrected parameters or substitute with LIN motions if arc is not critical

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