KUKA Robot codes
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KUKA Robot Controller

System · Advanced

Alarm KRC0626

KUKA Robot KRC0626 - BASE change inadmissible

This alarm indicates that a BASE coordinate frame change was attempted while the robot is executing conveyor tracking operations. The KRC controller prevents BASE modifications during active conveyor mode because changing the reference coordinate system would invalidate the conveyor synchronization and cause unpredictable robot motion. The operation must be halted before any BASE adjustments can be made.

KUKA RobotSystemAdvanced

KRC0626

KUKA Robot KRC0626 - BASE change inadmissible

BASE change inadmissible

This alarm indicates that a BASE coordinate frame change was attempted while the robot is executing conveyor tracking operations. The KRC controller prevents BASE modifications during active conveyor mode because changing the reference coordinate system would invalidate the conveyor synchronization and cause unpredictable robot motion. The operation must be halted before any BASE adjustments can be made.

Common Causes

  • Attempting to modify BASE coordinates via teach pendant or program while conveyor tracking is active
  • Using $BASE system variable assignment in a running program with conveyor mode enabled
  • Simultaneous execution of BASE change command and conveyor synchronization functions
  • Incorrect program logic that tries to recalibrate BASE during material handling operations
  • Manual intervention on teach pendant attempting to change BASE without stopping conveyor operation

Troubleshooting Steps

  1. 1Stop the conveyor operation and disable conveyor tracking mode using the appropriate conveyor control commands
  2. 2Halt the current robot program execution completely using the STOP button on the teach pendant
  3. 3Clear any pending motion commands in the motion buffer by pressing the reset or acknowledge button
  4. 4Once conveyor mode is fully deactivated, proceed with the BASE coordinate frame change using $BASE assignment or calibration routine
  5. 5Verify that all conveyor synchronization parameters are properly reconfigured before resuming conveyor tracking operations
  6. 6Test the robot movement with a small manual jog motion to confirm BASE change was applied correctly and conveyor sync is re-established

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