What causes KUKA Robot alarm KRC0576?

EXTFCTP instruction used in a program without proper force/torque sensing hardware installed or configured. Instruction executed in a KRC controller version that does not support external force control functionality. EXTFCTP command placed in an inappropriate program section or execution mode where external force control is disabled. Missing or incomplete configuration of the force/torque sensor in the controller's system parameters. Attempt to use EXTFCTP in a safety-restricted program or in offline/simulation mode without proper enablement.

How do I fix KUKA Robot alarm KRC0576?

1. Verify that force/torque sensing hardware is physically installed on the robot and properly connected to the controller 2. Check the KRC controller version and confirm it supports EXTFCTP instructions; update firmware if necessary 3. Review the program syntax and remove or comment out the EXTFCTP instruction if external force control is not required 4. Verify force/torque sensor configuration in the System > Kinematics menu and ensure sensor calibration data is loaded 5. Enable external force control in the appropriate program mode or motion group settings if the hardware is present 6. Contact KUKA support or consult the controller documentation to confirm EXTFCTP prerequisites for your specific robot model and KRC version

KUKA Robot codes

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KUKA Robot Controller

System · Intermediate

Alarm KRC0576

KUKA Robot KRC0576 - EXTFCTP instruction inadmissible

This alarm indicates that an EXTFCTP (External Force/Torque Control Point) instruction has been used in a program context where it is not permitted by the controller's current configuration or mode. The EXTFCTP instruction is restricted to specific operational scenarios and cannot be executed in the current program state or KRC version.

KUKA RobotSystemIntermediate

KRC0576

KUKA Robot KRC0576 - EXTFCTP instruction inadmissible

EXTFCTP instruction inadmissible

Common Causes

EXTFCTP instruction used in a program without proper force/torque sensing hardware installed or configured
Instruction executed in a KRC controller version that does not support external force control functionality
EXTFCTP command placed in an inappropriate program section or execution mode where external force control is disabled
Missing or incomplete configuration of the force/torque sensor in the controller's system parameters
Attempt to use EXTFCTP in a safety-restricted program or in offline/simulation mode without proper enablement

Troubleshooting Steps

1Verify that force/torque sensing hardware is physically installed on the robot and properly connected to the controller
2Check the KRC controller version and confirm it supports EXTFCTP instructions; update firmware if necessary
3Review the program syntax and remove or comment out the EXTFCTP instruction if external force control is not required
4Verify force/torque sensor configuration in the System > Kinematics menu and ensure sensor calibration data is loaded
5Enable external force control in the appropriate program mode or motion group settings if the hardware is present
6Contact KUKA support or consult the controller documentation to confirm EXTFCTP prerequisites for your specific robot model and KRC version

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