What causes KUKA Robot alarm KRC0513?

DRIFT parameter placed as standalone instruction between two PTP or LIN movements. $TOOL variable assignment positioned between motion instructions instead of before them. $FILTER parameter declared between consecutive motion commands without proper grouping. Incorrect use of approximation syntax or missing motion instruction after parameter declaration. Copy-paste programming errors where parameters were placed in wrong execution sequence.

How do I fix KUKA Robot alarm KRC0513?

1. Review the program source code around the alarm trigger line to identify which parameter (DRIFT, $TOOL, or $FILTER) is incorrectly placed 2. Verify that all approximation parameters are assigned before the first motion instruction or as part of the motion instruction definition 3. Reorganize program logic so parameter assignments occur in proper sequence relative to motion commands 4. Ensure $TOOL assignments happen before any motion instructions that require the tool, and $FILTER is applied within valid approximation contexts 5. Check KRC program syntax documentation for correct DRIFT, $TOOL, and $FILTER declaration placement within motion blocks 6. Recompile and test the program after corrections to confirm the alarm no longer triggers

KUKA Robot codes

axismd.ai

KUKA Robot Controller

System · Basic

Alarm KRC0513

KUKA Robot KRC0513 - Approximation not allowed for instructions

This alarm occurs when approximation parameters (DRIFT, $TOOL, or $FILTER) are programmed between two consecutive motion instructions without proper syntax. The KUKA KRC controller requires these parameters to be specified only at motion instruction endpoints or within valid approximation blocks, not as standalone statements between motion commands.

KUKA RobotSystemBasic

KRC0513

KUKA Robot KRC0513 - Approximation not allowed for instructions

Approximation not allowed for instructions

Common Causes

DRIFT parameter placed as standalone instruction between two PTP or LIN movements
$TOOL variable assignment positioned between motion instructions instead of before them
$FILTER parameter declared between consecutive motion commands without proper grouping
Incorrect use of approximation syntax or missing motion instruction after parameter declaration
Copy-paste programming errors where parameters were placed in wrong execution sequence

Troubleshooting Steps

1Review the program source code around the alarm trigger line to identify which parameter (DRIFT, $TOOL, or $FILTER) is incorrectly placed
2Verify that all approximation parameters are assigned before the first motion instruction or as part of the motion instruction definition
3Reorganize program logic so parameter assignments occur in proper sequence relative to motion commands
4Ensure $TOOL assignments happen before any motion instructions that require the tool, and $FILTER is applied within valid approximation contexts
5Check KRC program syntax documentation for correct DRIFT, $TOOL, and $FILTER declaration placement within motion blocks
6Recompile and test the program after corrections to confirm the alarm no longer triggers

Seeing Multiple Alarms?

Seeing another alarm with this one? Enter the code.

Get machine-aware diagnosis

AxisMD logs alarms against your actual machines, tracks patterns, and gives AI context your manual doesn't have.

Start free

Was this guide helpful?

Always verify with your machine manual or a certified technician before performing service procedures.