What causes KUKA Robot alarm KRC0845?

BVS or MSD instruction is not positioned directly after instruction 2181 in the program. Intermediate instructions or jumps between instruction 2181 and the required BVS/MSD statement. BVS or MSD instruction was deleted or commented out in the code sequence. Program structure was modified without maintaining the mandatory instruction order. Conditional logic or branching prevents proper execution flow from 2181 to BVS/MSD.

How do I fix KUKA Robot alarm KRC0845?

1. Review the KRL source code and locate instruction 2181 and verify the next executable instruction is BVS or MSD 2. Check for any conditional statements, jumps, or branches between instruction 2181 and the BVS/MSD instruction that may disrupt the sequence 3. Ensure BVS or MSD statement is not commented out or disabled in the program 4. Verify the program structure follows KUKA safety and control flow requirements for operating mode transitions 5. Recompile and reload the KRL program after making corrections to restore proper instruction sequencing 6. Contact KUKA support with the complete program listing if the issue persists after structural corrections

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC0845

KUKA Robot KRC0845 - “BVS” OR “MSD” MUST FOLLOW 2181

This alarm indicates a program logic violation where a BVS (Betriebsartumschaltung/Operating Mode Switch) or MSD (Manual Speed Device) instruction must follow immediately after instruction 2181 in the KRL program sequence. The controller has detected that the required instruction is either missing, out of sequence, or improperly placed in the execution flow.

KUKA RobotSystemBasic

KRC0845

KUKA Robot KRC0845 - “BVS” OR “MSD” MUST FOLLOW 2181

“BVS” OR “MSD” MUST FOLLOW 2181

Common Causes

BVS or MSD instruction is not positioned directly after instruction 2181 in the program
Intermediate instructions or jumps between instruction 2181 and the required BVS/MSD statement
BVS or MSD instruction was deleted or commented out in the code sequence
Program structure was modified without maintaining the mandatory instruction order
Conditional logic or branching prevents proper execution flow from 2181 to BVS/MSD

Troubleshooting Steps

1Review the KRL source code and locate instruction 2181 and verify the next executable instruction is BVS or MSD
2Check for any conditional statements, jumps, or branches between instruction 2181 and the BVS/MSD instruction that may disrupt the sequence
3Ensure BVS or MSD statement is not commented out or disabled in the program
4Verify the program structure follows KUKA safety and control flow requirements for operating mode transitions
5Recompile and reload the KRL program after making corrections to restore proper instruction sequencing
6Contact KUKA support with the complete program listing if the issue persists after structural corrections

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