KUKA Robot codes
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KUKA Robot Controller

System · Basic

Alarm KRC0632

KUKA Robot KRC0632 - Kinematic instruction inadmissible

An external kinematic system has been assigned to the $BASE system variable using the EK function, but this kinematic definition does not exist in the robot configuration. The KRC4 controller cannot locate or load the specified external kinematic model required for trajectory calculation.

KUKA RobotSystemBasic

KRC0632

KUKA Robot KRC0632 - Kinematic instruction inadmissible

Kinematic instruction inadmissible

An external kinematic system has been assigned to the $BASE system variable using the EK function, but this kinematic definition does not exist in the robot configuration. The KRC4 controller cannot locate or load the specified external kinematic model required for trajectory calculation.

Common Causes

  • Referencing an external kinematic system name in $BASE that was not defined in the WorkVisual project configuration
  • Deleting or removing an external kinematic definition from the project without updating program references
  • Typing an incorrect or misspelled external kinematic system name in the EK function call
  • Loading a program created on a different robot system with a different set of available external kinematics
  • External kinematic file missing or corrupted in the robot configuration directory

Troubleshooting Steps

  1. 1Open WorkVisual and navigate to the kinematics configuration to view all available external kinematic systems
  2. 2Verify the exact name of the external kinematic system in the program matches the defined kinematic name
  3. 3Check that the external kinematic definition was properly imported into the current project configuration
  4. 4Confirm that the kinematic file is present in the configuration directory and not corrupted
  5. 5Correct the external kinematic system name in the $BASE assignment and recompile the program
  6. 6Download the updated configuration to the KRC4 controller and test the program execution

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