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KUKA Error 1140 — LINE CHANGE DURING A STOP

Error

Displayed as KSS01140 on KRC4 / KRC5 controllers

KUKA 1140 (“LINE CHANGE DURING A STOP”): In the event of a stop via braking ramp or a path-maintaining stop during a block change, the calculation of "$POS_RET" and of the system time is not possible. First check: Modify the operation so that the stop does not coincide with the block change.

Updated 2026-09-09 · LogrobotLM reference

Cause

In the event of a stop via braking ramp or a path-maintaining stop during a block change, the calculation of "$POS_RET" and of the system time is not possible. "$POS_RET" and the system time are determined by the start of a new block.

Effect

Stop via braking ramp. Program execution stopped.

Troubleshooting

Modify the operation so that the stop does not coincide with the block change.

Related codes

1137PAL CALIBRATION DISTANCE EXCEEDED1143REFERENCE POINT OFFSET NOT ALLOWED1144WRONG SHAPE OF CALIBRATION VEE

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