What causes KUKA Robot alarm KRC0533?

Using $OUT_C instruction inside a SUBMIT block or during synchronized motion execution. Placing output commands within inline motion statements (PTP, LIN, CIRC) without proper block separation. Incorrect syntax or missing line breaks between output instructions and motion commands. Attempting to execute $OUT_C during a blocking motion statement where concurrent I/O operations are not permitted. Using output instructions in real-time interrupt handlers or motion callback functions where they are restricted.

How do I fix KUKA Robot alarm KRC0533?

1. Verify the program structure and ensure $OUT_C instructions are placed outside of SUBMIT blocks and motion command statements 2. Separate output instructions from motion commands by placing them on independent lines or in separate program blocks 3. Check KRC syntax rules to confirm that output operations are permitted in the current execution context 4. Review the instruction sequence and move $OUT_C commands to occur before or after motion statements rather than during them 5. Consult the KUKA KRC programming manual for proper placement of I/O instructions relative to motion syntax 6. Test the corrected program offline using the KRC simulator before running on the physical robot controller

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0533

KUKA Robot KRC0533 - $OUT_C[N] IS NOT PERMISSIBLE IN SUBMIT

This alarm occurs when an output instruction ($OUT_C) is used in an invalid context within a SUBMIT block or motion command where it is not permitted by the KRC controller syntax. The $OUT_C instruction attempts to set digital or analog outputs but violates the structural rules of the current program block, typically when used within synchronized motion statements or in locations where only motion-related commands are allowed.

KUKA RobotSystemBasic

KRC0533

KUKA Robot KRC0533 - $OUT_C[N] IS NOT PERMISSIBLE IN SUBMIT

$OUT_C[N] IS NOT PERMISSIBLE IN SUBMIT

Common Causes

Using $OUT_C instruction inside a SUBMIT block or during synchronized motion execution
Placing output commands within inline motion statements (PTP, LIN, CIRC) without proper block separation
Incorrect syntax or missing line breaks between output instructions and motion commands
Attempting to execute $OUT_C during a blocking motion statement where concurrent I/O operations are not permitted
Using output instructions in real-time interrupt handlers or motion callback functions where they are restricted

Troubleshooting Steps

1Verify the program structure and ensure $OUT_C instructions are placed outside of SUBMIT blocks and motion command statements
2Separate output instructions from motion commands by placing them on independent lines or in separate program blocks
3Check KRC syntax rules to confirm that output operations are permitted in the current execution context
4Review the instruction sequence and move $OUT_C commands to occur before or after motion statements rather than during them
5Consult the KUKA KRC programming manual for proper placement of I/O instructions relative to motion syntax
6Test the corrected program offline using the KRC simulator before running on the physical robot controller

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