KUKA Robot codes
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KUKA Robot Controller

System · Advanced

Alarm KRC0516

KUKA Robot KRC0516 - Angle status inadmissible

After repositioning with LIN motion command, the angle status of the robot does not match the status defined in the programmed block. This typically occurs when the robot frame orientation or wrist configuration becomes inconsistent with expected kinematic values during linear motion execution.

KUKA RobotSystemAdvanced

KRC0516

KUKA Robot KRC0516 - Angle status inadmissible

Angle status inadmissible

After repositioning with LIN motion command, the angle status of the robot does not match the status defined in the programmed block. This typically occurs when the robot frame orientation or wrist configuration becomes inconsistent with expected kinematic values during linear motion execution.

Common Causes

  • LIN motion crossing a singularity zone causing unexpected wrist flip or elbow configuration change
  • Robot reaching a configuration where multiple solutions exist for the same Cartesian position
  • Incorrect definition of tool frame orientation in tool data causing angle mismatch
  • Manual intervention or collision during LIN motion execution altering joint angles
  • Calibration error in joint encoders resulting in incorrect angle status feedback

Troubleshooting Steps

  1. 1Verify the tool frame definition in the tool database matches the actual mounted tool geometry and orientation
  2. 2Check if the LIN motion path passes through or near a robot singularity by simulating the motion in WorkVisual
  3. 3Review the angle status values in the block before and after repositioning using the diagnostics display
  4. 4Move the robot to the target position using manual jogging to confirm the correct configuration is reachable
  5. 5Recalibrate the robot joint encoders using the calibration procedure in the KUKA System Software
  6. 6Modify the motion command to use PTP instead of LIN or add intermediate waypoints to avoid configuration ambiguity

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