KUKA Robot codes
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KUKA Robot Controller

System · Advanced

Alarm KRC0588

KUKA Robot KRC0588 - Delay <block number> inadmissible

A negative delay parameter has been specified in a SYNACT instruction without using one of the four required position trigger variables. The KRC4 controller requires proper trigger variable assignment to enable synchronized axis acceleration and deceleration timing during coordinated motion.

KUKA RobotSystemAdvanced

KRC0588

KUKA Robot KRC0588 - Delay <block number> inadmissible

Delay <block number> inadmissible

A negative delay parameter has been specified in a SYNACT instruction without using one of the four required position trigger variables. The KRC4 controller requires proper trigger variable assignment to enable synchronized axis acceleration and deceleration timing during coordinated motion.

Common Causes

  • SYNACT instruction written with negative delay but missing M_SC_F variable assignment for forward sensor trigger
  • Position trigger variable M_SC_B for backward motion not included in the SYNACT statement despite negative delay specification
  • M_SCAPO_F or M_SCAPO_B variables excluded from the SYNACT instruction when negative delay offset is used
  • Incorrect KRL syntax in the SYNACT statement causing the controller to not recognize the position trigger variable declaration
  • Legacy KRL code from older KUKA systems that does not follow KRC4 negative delay and trigger variable requirements

Troubleshooting Steps

  1. 1Review the KRL program and locate all SYNACT instructions that contain negative delay parameters
  2. 2Verify that each SYNACT instruction with negative delay includes one of the four valid trigger variables: M_SC_F, M_SC_B, M_SCAPO_F, or M_SCAPO_B
  3. 3Modify the SYNACT statement syntax to include the appropriate position trigger variable based on the desired motion direction and synchronization requirement
  4. 4Consult the KUKA KRL language reference guide to confirm correct negative delay and trigger variable parameter order and formatting
  5. 5Re-compile the KRL program in WorkVisual and verify no syntax errors appear in the compilation log
  6. 6Test the program step-by-step using the KUKA smartPAD single block mode to confirm the SYNACT instruction executes without the alarm reoccurring

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