KRC0560

Common Causes

• Starting point and end point are identical or separated by distance smaller than system tolerance
• All three points (start, auxiliary, end) lie on the same straight line making circle calculation impossible
• Auxiliary point lies exactly on the line between starting and end points
• Rounding errors in calculated point coordinates due to prior motion instructions
• Incorrect point definitions in teach pendant or program causing degenerate geometry

Troubleshooting Steps

1. 1Verify the starting point, auxiliary point, and end point coordinates are mathematically distinct in the KRL program listing
2. 2Measure actual TCP positions using KUKA smartPAD and confirm they form a valid triangle when projected onto the motion plane
3. 3Increase the distance between starting and end points to exceed the minimum arc radius required by the robot kinematics
4. 4Reposition the auxiliary point to ensure it is clearly offset from the line connecting start and end points
5. 5Check for accumulated rounding errors by reviewing the complete motion path logic and reinitialize point variables with explicit values
6. 6Use WorkVisual to simulate the CIRC motion and visualize the intended arc path before executing on the physical robot