KUKA Robot codes
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KUKA Robot Controller

System · Advanced

Alarm KRC0655

KUKA Robot KRC0655 - Assignment of function value to $CYCFLAG inadmissible

A return value from a BOOL function has been directly assigned to a $CYCFLAG variable in KRL code. The $CYCFLAG system variable requires special handling and cannot accept direct function return values due to synchronization requirements in the KRC4 motion kernel. This programming error prevents proper cycle flag state management.

KUKA RobotSystemAdvanced

KRC0655

KUKA Robot KRC0655 - Assignment of function value to $CYCFLAG inadmissible

Assignment of function value to $CYCFLAG inadmissible

A return value from a BOOL function has been directly assigned to a $CYCFLAG variable in KRL code. The $CYCFLAG system variable requires special handling and cannot accept direct function return values due to synchronization requirements in the KRC4 motion kernel. This programming error prevents proper cycle flag state management.

Common Causes

  • Direct assignment of a BOOL function return to $CYCFLAG without intermediate variable storage
  • Incorrect understanding of $CYCFLAG data type requirements in the KRL language specification
  • Conversion of legacy code that previously used different flagging mechanisms without proper refactoring
  • Copy-paste error from non-cycle-flag assignments that accidentally targets $CYCFLAG
  • Using $CYCFLAG in a function call expecting a BOOL parameter rather than as an assignment target

Troubleshooting Steps

  1. 1Locate the KRL source file and find the line number indicated in the alarm message
  2. 2Review the syntax to identify where a BOOL function return is being assigned directly to $CYCFLAG
  3. 3Create an intermediate BOOL variable to store the function return value separately
  4. 4Assign the intermediate variable to $CYCFLAG in a separate statement after the function call
  5. 5Verify the corrected code against KUKA KRL programming guidelines for $CYCFLAG usage in the KRC4 manual
  6. 6Recompile the KRL program using WorkVisual and test cycle flag behavior on the KUKA smartPAD teach pendant

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