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KUKA Robot Controller
System · Intermediate
KUKA Robot KRC0528 - Mid point equal to end point
This alarm indicates that the auxiliary point (midpoint) defined in a motion instruction is positioned too close to or coincides with the endpoint of the trajectory. In KUKA KRC programming, auxiliary points are used to define intermediate waypoints in spline or circular motions, and they must maintain a minimum distance from the endpoint to ensure proper path interpolation and motion execution.
KRC0528
KUKA Robot KRC0528 - Mid point equal to end point
Mid point equal to end point
This alarm indicates that the auxiliary point (midpoint) defined in a motion instruction is positioned too close to or coincides with the endpoint of the trajectory. In KUKA KRC programming, auxiliary points are used to define intermediate waypoints in spline or circular motions, and they must maintain a minimum distance from the endpoint to ensure proper path interpolation and motion execution.
Common Causes
- Auxiliary point coordinates are identical or nearly identical to the endpoint coordinates in the motion instruction
- Rounding errors or insufficient precision in point definition causing auxiliary and endpoints to converge
- Incorrectly calculated intermediate waypoint positions in automated program generation or point teaching
- TCP offset or tool frame transformation causing virtual overlap between auxiliary and endpoint in workspace
- Motion instruction parameters (such as CIRC or SPLINE) with auxiliary point too close to endpoint due to path planning errors
Troubleshooting Steps
- 1Review the motion instruction (CIRC, SPLINE, or LIN with auxiliary point) in the program and verify that auxiliary point coordinates are distinctly different from endpoint coordinates
- 2Increase the distance between the auxiliary point and endpoint by adjusting the intermediate waypoint position to ensure adequate separation for proper interpolation
- 3Check the precision and rounding settings in point definition; increase decimal precision when teaching or importing points to avoid coordinate convergence
- 4Verify TCP offset and tool frame settings are correctly applied, as transformation errors can cause virtual point overlap in workspace coordinates
- 5Recalculate or regenerate motion paths if using automated program generation, ensuring minimum distance constraints between waypoints are met
- 6Test the corrected motion instruction in manual mode at reduced speed to confirm proper path execution before resuming automated operation
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