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KUKA Robot Controller
System · Intermediate
KUKA Robot KRC1036 - OriJoint not possible: Configuration of start and target position differs
The OriJoint motion command cannot be executed because the robot start position and target position have different elbow configurations relative to the A2-A3 axis extension. This kinematic singularity prevents continuous TCP orientation change when crossing the elbow workspace boundary.
KRC1036
KUKA Robot KRC1036 - OriJoint not possible: Configuration of start and target position differs
OriJoint not possible: Configuration of start and target position differs
The OriJoint motion command cannot be executed because the robot start position and target position have different elbow configurations relative to the A2-A3 axis extension. This kinematic singularity prevents continuous TCP orientation change when crossing the elbow workspace boundary.
Common Causes
- Target point programmed on opposite side of A2-A3 axis extension compared to current robot configuration
- Teach pendant incorrectly recorded target position without confirming elbow configuration matches start point
- Collision avoidance or SafeOperation boundary caused automatic robot reposition to alternate configuration
- Program logic does not include intermediate waypoint to transition between elbow-up and elbow-down configurations
- KUKA KRL program uses OriJoint without checking configuration compatibility before motion command execution
Troubleshooting Steps
- 1Review the KRL program source code to identify the exact line containing the problematic OriJoint command
- 2Manually jog the robot to the target position using SmartPAD to verify which elbow configuration is physically required
- 3Modify the KRL program to insert a linear motion step (LIN or SLIN) to transition configuration before executing OriJoint command
- 4Use WorkVisual configuration analysis tool to verify start and target position elbow states match before compiling program
- 5Replace OriJoint with PTP motion to intermediate waypoint, then execute OriJoint to final target from matching configuration
- 6Test program step-by-step using SmartPAD single-block mode with reduced speed to validate configuration transitions execute properly
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