KRC0635

Common Causes

• Programming a CA value greater than 360 degrees or below the minimum threshold for circular motion
• Using an incorrect unit for the CA parameter such as radians instead of degrees
• Calculating CA values dynamically without bounds checking before assignment to CIRC blocks
• Copy-pasting CIRC block definitions from different robot configurations with incompatible CA ranges
• Manual data entry error resulting in an excessively large or incorrectly formatted CA value

Troubleshooting Steps

1. 1Locate the CIRC block with the out-of-range CA parameter in the KRL program source code
2. 2Check the robot configuration limits to determine the valid CA parameter range for the current robot model
3. 3Verify that the CA value is expressed in the correct unit and convert if necessary
4. 4Adjust the CA value to fall within the valid range, typically between 0 and 360 degrees for standard applications
5. 5If CA is calculated dynamically, add validation logic to ensure values remain within acceptable bounds
6. 6Recompile and test the corrected CIRC block on the KUKA smartPAD to confirm proper circular motion