What causes KUKA Robot alarm KRC0514?

First instruction in the program uses relative positioning (e.g., PTP REL, LIN REL) instead of absolute positioning. Program lacks an initialization move with absolute coordinates before relative motion commands. Incorrect program structure where relative movements are called before establishing a home or reference position. Program was edited or reordered, moving a relative motion instruction to the beginning without corresponding absolute positioning. Missing or commented-out absolute position initialization statement at program start.

How do I fix KUKA Robot alarm KRC0514?

1. Review the program source code and verify the first motion instruction uses absolute positioning (PTP or LIN without REL modifier) 2. Add an absolute position initialization move at the beginning of the program, typically to a known safe/home position 3. Ensure the robot is homed and positioned at a known location before executing the program 4. Check for any program editing that may have altered the instruction sequence and moved relative commands to the start 5. Use KRC diagnostic tools to verify the current robot position and compare against expected reference coordinates 6. Re-structure the program to place all absolute position moves before any relative motion instructions and test execution

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0514

KUKA Robot KRC0514 - Start movement not allowed

This alarm occurs when a program attempts to execute a relative motion instruction as the first movement command without an established reference position. The KUKA KRC controller requires an absolute position to be set before any relative motion commands can be executed, as relative movements are calculated as offsets from the current position.

KUKA RobotSystemBasic

KRC0514

KUKA Robot KRC0514 - Start movement not allowed

Start movement not allowed

Common Causes

First instruction in the program uses relative positioning (e.g., PTP REL, LIN REL) instead of absolute positioning
Program lacks an initialization move with absolute coordinates before relative motion commands
Incorrect program structure where relative movements are called before establishing a home or reference position
Program was edited or reordered, moving a relative motion instruction to the beginning without corresponding absolute positioning
Missing or commented-out absolute position initialization statement at program start

Troubleshooting Steps

1Review the program source code and verify the first motion instruction uses absolute positioning (PTP or LIN without REL modifier)
2Add an absolute position initialization move at the beginning of the program, typically to a known safe/home position
3Ensure the robot is homed and positioned at a known location before executing the program
4Check for any program editing that may have altered the instruction sequence and moved relative commands to the start
5Use KRC diagnostic tools to verify the current robot position and compare against expected reference coordinates
6Re-structure the program to place all absolute position moves before any relative motion instructions and test execution

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