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KUKA Error 2130 — EXPRESSION AFTER RETURN NOT ALLOWED

Displayed as KSS02130 on KRC4 / KRC5 controllers

KUKA 2130 (“EXPRESSION AFTER RETURN NOT ALLOWED”): The expression after “RETURN” is not admissible. First check: Modify the program.

Updated 2026-09-09 · LogrobotLM reference

Cause

The expression after “RETURN” is not admissible. Example: DEF Up() ... RETURN (1) END

Effect

The program is not executable.

Troubleshooting

Modify the program. Example: DEF Up() ... RETURN END

Related codes

2129FORMAL PARAMETER NOT DEFINED2131EXPRESSION MISSING AFTER THE RETURN STATEMENT2128MORE ACTUAL PARAMETERS THAN FORMAL PARAMETERS SPECIFIED2132INTERFACES NOT ALLOWED

Indicative field information — the robot manufacturer's manual and safety procedures always prevail. Never bypass a safety device; apply lockout/tagout (LOTO) before any physical intervention. How this reference is built →