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KUKA Robot Controller
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KUKA Robot KRC0508 - Reposition
The KRC0508 alarm occurs when the robot fails to return to the Break-Contour-Off position after executing an interrupt routine. The robot must be explicitly repositioned to the interrupt point using appropriate motion commands like LIN $POS_RET before the interrupt routine concludes.
KRC0508
KUKA Robot KRC0508 - Reposition
Reposition
The KRC0508 alarm occurs when the robot fails to return to the Break-Contour-Off position after executing an interrupt routine. The robot must be explicitly repositioned to the interrupt point using appropriate motion commands like LIN $POS_RET before the interrupt routine concludes.
Common Causes
- Interrupt routine does not include repositioning motion back to original point
- LIN $POS_RET command missing or improperly executed within interrupt handler
- Robot motion during interrupt caused BCO point to shift preventing return
- Timeout condition prevents completion of repositioning before routine exit
- Incorrect use of $POS_RET variable or undefined return position variable
Troubleshooting Steps
- 1Add explicit repositioning statement LIN $POS_RET at end of interrupt routine before exit
- 2Verify $POS_RET variable is properly initialized when interrupt is triggered
- 3Remove any concurrent motions or interfering robot movements within the interrupt routine
- 4Increase timeout values and check KRC4 interrupt handling configuration
- 5Confirm SafeOperation settings do not conflict with interrupt repositioning logic
- 6Test interrupt routine in simulation mode using KUKA.Sim before execution on physical robot
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