What causes KUKA Robot alarm KRC0585?

Program contains CIRC instructions but was initiated in BCO run mode instead of standard automatic or teach mode. Incorrect program mode selection in the KRC controller interface or startup configuration. Legacy or incompatible robot program that mixes motion types not supported in BCO mode. Corrupted or incorrectly configured program initialization settings that default to BCO mode. Manual intervention or incorrect parameter setting that forces BCO mode execution on programs designed for standard operation.

How do I fix KUKA Robot alarm KRC0585?

1. Verify the program execution mode by checking the KRC controller's mode selector switch and ensure it is set to Automatic or T1/T2 mode rather than BCO mode 2. Review the robot program source code and confirm all circular motions (CIRC instructions) are appropriate for the intended application and execution mode 3. Switch to standard Automatic mode execution and re-run the program to allow proper CIRC instruction processing 4. Check the program initialization parameters and startup configuration in the KRC system files to ensure BCO mode is not being forced as default 5. If BCO mode is required, modify the program to replace CIRC instructions with appropriate LIN or PTP motions that achieve the desired tool path 6. Clear the alarm and test the corrected program with reduced speed on a teach pendant to verify proper execution before full production run

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0585

KUKA Robot KRC0585 - CIRC is executed as LIN

This alarm indicates that a CIRC (circular motion) instruction was encountered during program execution in a BCO (Block Collimation Offset) run mode, which does not support circular interpolation. The KUKA controller cannot execute CIRC commands in BCO mode and therefore converts the instruction to a linear (LIN) motion instead, which may result in inaccurate tool path geometry and potential collision or quality issues.

KUKA RobotSystemBasic

KRC0585

KUKA Robot KRC0585 - CIRC is executed as LIN

CIRC is executed as LIN

Common Causes

Program contains CIRC instructions but was initiated in BCO run mode instead of standard automatic or teach mode
Incorrect program mode selection in the KRC controller interface or startup configuration
Legacy or incompatible robot program that mixes motion types not supported in BCO mode
Corrupted or incorrectly configured program initialization settings that default to BCO mode
Manual intervention or incorrect parameter setting that forces BCO mode execution on programs designed for standard operation

Troubleshooting Steps

1Verify the program execution mode by checking the KRC controller's mode selector switch and ensure it is set to Automatic or T1/T2 mode rather than BCO mode
2Review the robot program source code and confirm all circular motions (CIRC instructions) are appropriate for the intended application and execution mode
3Switch to standard Automatic mode execution and re-run the program to allow proper CIRC instruction processing
4Check the program initialization parameters and startup configuration in the KRC system files to ensure BCO mode is not being forced as default
5If BCO mode is required, modify the program to replace CIRC instructions with appropriate LIN or PTP motions that achieve the desired tool path
6Clear the alarm and test the corrected program with reduced speed on a teach pendant to verify proper execution before full production run

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