What causes KUKA Robot alarm KRC1035?

Axis angle discontinuity at blend point between #VAR/#CONSTANT orientation and #JOINT mode exceeds threshold limits. Nonoriented joint motion (nonOriJoint) creating excessive wrist angle rotation that cannot be smoothly blended. CP approximation algorithm unable to reconcile orientation difference between successive motion blocks. Rapid orientation change programmed in motion sequence that violates CPCP blending constraints. Incompatible $BLEND_REL parameter value preventing proper intermediate orientation calculation.

How do I fix KUKA Robot alarm KRC1035?

1. Review motion sequence in KRL program to identify exact line causing blend transition failure 2. Reduce velocity and acceleration parameters ($VEL and $ACC) for the problematic motion segment 3. Insert intermediate waypoint with gradual orientation change instead of direct transition between control types 4. Check $BLEND_REL setting and adjust to allow more conservative blending tolerance 5. Rewrite problematic motion using consistent orientation control type throughout the sequence 6. Validate path in simulation mode using KRC4 system before attempting live robot execution

KUKA Robot codes

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KUKA Robot Controller

System · Basic

Alarm KRC1035

KUKA Robot KRC1035 - Blending $ORI_TYPE=#VAR/#CONSTANT to $ORI_TYPE=#JOINT not possible

Motion blending between Cartesian and joint orientation control types is mathematically impossible when wrist axis angle changes exceed acceptable thresholds during nonOriJoint movements. This indicates an incompatible path transition that cannot maintain continuous orientation interpolation.

KUKA RobotSystemBasic

KRC1035

KUKA Robot KRC1035 - Blending $ORI_TYPE=#VAR/#CONSTANT to $ORI_TYPE=#JOINT not possible

Blending $ORI_TYPE=#VAR/#CONSTANT to $ORI_TYPE=#JOINT not possible

Common Causes

Axis angle discontinuity at blend point between #VAR/#CONSTANT orientation and #JOINT mode exceeds threshold limits
Nonoriented joint motion (nonOriJoint) creating excessive wrist angle rotation that cannot be smoothly blended
CP approximation algorithm unable to reconcile orientation difference between successive motion blocks
Rapid orientation change programmed in motion sequence that violates CPCP blending constraints
Incompatible $BLEND_REL parameter value preventing proper intermediate orientation calculation

Troubleshooting Steps

1Review motion sequence in KRL program to identify exact line causing blend transition failure
2Reduce velocity and acceleration parameters ($VEL and $ACC) for the problematic motion segment
3Insert intermediate waypoint with gradual orientation change instead of direct transition between control types
4Check $BLEND_REL setting and adjust to allow more conservative blending tolerance
5Rewrite problematic motion using consistent orientation control type throughout the sequence
6Validate path in simulation mode using KRC4 system before attempting live robot execution

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