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KUKA Error 2147 — 'UNTIL' MISSING

Displayed as KSS02147 on KRC4 / KRC5 controllers

KUKA 2147 (“'UNTIL' MISSING”): The “REPEAT” loop has not been terminated with “UNTIL”. First check: Modify the program.

Updated 2026-09-09 · LogrobotLM reference

Cause

The “REPEAT” loop has not been terminated with “UNTIL”. Example: DEF Prog() INT i i=1 REPEAT END

Effect

The program is not executable.

Troubleshooting

Modify the program. Example: DEF Prog() INT i i=1 REPEAT i=i+1 UNTIL i>100 END

Related codes

2146'ENDFOR' MISSING2148'ENDIF' MISSING2145'ENDWHILE' MISSING2149'ENDSWITCH' MISSING

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 →