What causes KUKA Robot alarm KRC0939?

Passing an integer variable to a parameter expecting a real/float value. Passing a simple data type to a parameter expecting a structured data type or array. Passing a variable of wrong AXIS_HOME, FRAME, or custom structure type. Incorrect array dimensions passed to a function expecting a differently sized array. Passing a string or character to a parameter expecting a numeric type.

How do I fix KUKA Robot alarm KRC0939?

1. Review the function or module declaration to verify the formal parameter types required 2. Check the actual call statement and confirm the data types of all arguments being passed 3. Verify variable declarations match the expected types (INT, REAL, BOOL, AXIS, FRAME, etc.) 4. Convert or cast incompatible types explicitly using appropriate KRL type conversion functions 5. Compare the actual parameter against the formal parameter definition in the function signature 6. Recompile the KRL program after making corrections and verify the alarm is resolved

KUKA Robot codes

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KUKA Robot Controller

Parameter · Basic

Alarm KRC0939

KUKA Robot KRC0939 - TYPE ACTUAL/FORMAL PARAMETER INCOMPATIBLE 2276

This alarm indicates a type mismatch between actual and formal parameters in a KRL program function or module call. The compiler or runtime environment detected that the data type of the argument passed to a function does not match the declared parameter type, preventing proper execution.

KUKA RobotParameterBasic

KRC0939

KUKA Robot KRC0939 - TYPE ACTUAL/FORMAL PARAMETER INCOMPATIBLE 2276

TYPE ACTUAL/FORMAL PARAMETER INCOMPATIBLE 2276

Common Causes

Passing an integer variable to a parameter expecting a real/float value
Passing a simple data type to a parameter expecting a structured data type or array
Passing a variable of wrong AXIS_HOME, FRAME, or custom structure type
Incorrect array dimensions passed to a function expecting a differently sized array
Passing a string or character to a parameter expecting a numeric type

Troubleshooting Steps

1Review the function or module declaration to verify the formal parameter types required
2Check the actual call statement and confirm the data types of all arguments being passed
3Verify variable declarations match the expected types (INT, REAL, BOOL, AXIS, FRAME, etc.)
4Convert or cast incompatible types explicitly using appropriate KRL type conversion functions
5Compare the actual parameter against the formal parameter definition in the function signature
6Recompile the KRL program after making corrections and verify the alarm is resolved

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