KUKA Robot codes
AxisMD

axismd.ai

KUKA Robot Controller

System · Basic

Alarm KRC1034

KUKA Robot KRC1034 - $ORI_TYPE implicitly set to #VAR

External TCP activation in T1 or T2 operating mode requires orientation control type to be set to Cartesian rather than joint-based. The combination of TCP mode with #JOINT orientation control is incompatible and prevents safe Cartesian motion execution in teach pendant modes.

KUKA RobotSystemBasic

KRC1034

KUKA Robot KRC1034 - $ORI_TYPE implicitly set to #VAR

$ORI_TYPE implicitly set to #VAR

External TCP activation in T1 or T2 operating mode requires orientation control type to be set to Cartesian rather than joint-based. The combination of TCP mode with #JOINT orientation control is incompatible and prevents safe Cartesian motion execution in teach pendant modes.

Common Causes

  • External TCP enabled ($IPO_MODE = TCP) while $ORI_TYPE remains set to #JOINT from previous program configuration
  • Manual override of $ORI_TYPE to #JOINT after external TCP activation in teach mode
  • Incorrect initialization of orientation control system variables before switching to T1/T2 mode with TCP
  • Residual configuration from program file not updated when switching between internal and external TCP operation
  • Conflicting settings in robot configuration or default parameter file regarding orientation type

Troubleshooting Steps

  1. 1Verify current operating mode is not T1 or T2 before making configuration changes
  2. 2Check $IPO_MODE variable setting and confirm if external TCP should be active for current task
  3. 3Set $ORI_TYPE to #CONSTANT or #VAR to match Cartesian TCP operation requirements
  4. 4Review and correct the KRL program initialization section to ensure proper variable declaration order
  5. 5Reload robot configuration files using WorkVisual and verify orientation control settings are consistent
  6. 6Test orientation control in manual mode using KUKA smartPAD before resuming automatic program execution

Seeing Multiple Alarms?

Seeing another alarm with this one? Enter the code.

Get machine-aware diagnosis

AxisMD logs alarms against your actual machines, tracks patterns, and gives AI context your manual doesn't have.

Start free

Was this guide helpful?

Always verify with your machine manual or a certified technician before performing service procedures.