What causes KUKA Robot alarm KRC0704?

Using motion commands (PTP, LIN, CIRC) within section 2040 when they should be in main program flow. Attempting to call functions or procedures that are not whitelisted for section 2040. Using unsupported variable declarations or data type definitions in section 2040. Including interrupt handlers or event-driven code blocks in section 2040. Placing real-time synchronized instructions in section 2040 when they require different program context.

How do I fix KUKA Robot alarm KRC0704?

1. Review the KRL program and identify the exact line number or instruction triggering the alarm from the compiler output 2. Consult KUKA KRL documentation to verify which instruction types are permitted in section 2040 3. Move the problematic instruction to the appropriate program section (typically the main program body or dedicated subroutine) 4. Verify that any function calls within section 2040 are compatible and registered for use in that section 5. Check for syntax errors or incomplete statement structures that may be misinterpreted as restricted instructions 6. Recompile the program after making corrections and verify the alarm is resolved

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0704

KUKA Robot KRC0704 - INSTRUCTION NOT IN INSTRUCTION SECTION 2040

This alarm indicates that an instruction or statement was encountered that is not permitted within instruction section 2040 of the KRL program. Section 2040 has specific restrictions on which KRL commands and syntax are allowed, and the compiler detected a violation of these restrictions. The offending instruction must be relocated or restructured to comply with section 2040 requirements.

KUKA RobotSystemBasic

KRC0704

KUKA Robot KRC0704 - INSTRUCTION NOT IN INSTRUCTION SECTION 2040

INSTRUCTION NOT IN INSTRUCTION SECTION 2040

Common Causes

Using motion commands (PTP, LIN, CIRC) within section 2040 when they should be in main program flow
Attempting to call functions or procedures that are not whitelisted for section 2040
Using unsupported variable declarations or data type definitions in section 2040
Including interrupt handlers or event-driven code blocks in section 2040
Placing real-time synchronized instructions in section 2040 when they require different program context

Troubleshooting Steps

1Review the KRL program and identify the exact line number or instruction triggering the alarm from the compiler output
2Consult KUKA KRL documentation to verify which instruction types are permitted in section 2040
3Move the problematic instruction to the appropriate program section (typically the main program body or dedicated subroutine)
4Verify that any function calls within section 2040 are compatible and registered for use in that section
5Check for syntax errors or incomplete statement structures that may be misinterpreted as restricted instructions
6Recompile the program after making corrections and verify the alarm is resolved

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