KUKA Robot codes
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KUKA Robot Controller

System · Advanced

Alarm KRC0037

KUKA Robot KRC0037 - WORKING ENVELOPE NO. @P1@ VIOLATED

TCP position has violated a configured working envelope boundary with STOP mode active, halting robot motion immediately. This safety feature prevents operation outside permitted workspace limits defined in SafeOperation or system parameters.

KUKA RobotSystemAdvanced

KRC0037

KUKA Robot KRC0037 - WORKING ENVELOPE NO. @P1@ VIOLATED

WORKING ENVELOPE NO. @P1@ VIOLATED

TCP position has violated a configured working envelope boundary with STOP mode active, halting robot motion immediately. This safety feature prevents operation outside permitted workspace limits defined in SafeOperation or system parameters.

Common Causes

  • Working envelope boundary set too restrictively relative to programmed motion path requirements
  • TCP position measurement error due to tool calibration offset or flange-mounted sensor drift
  • Program logic error causing path to deviate beyond intended working envelope limits
  • Workspace envelope geometry incorrectly configured in WorkVisual or KUKA smartPAD settings
  • External force or collision pushing TCP outside envelope without proper monitoring deactivation

Troubleshooting Steps

  1. 1Check working envelope boundary dimensions and MODE settings in system configuration or WorkVisual
  2. 2Verify TCP tool frame calibration is accurate using calibration procedure in KUKA smartPAD
  3. 3Review KRL program motion commands to ensure paths remain within defined envelope limits
  4. 4Run motion simulation in WorkVisual to visualize actual path trajectory against envelope boundaries
  5. 5Adjust working envelope dimensions if current limits are incorrect for intended application
  6. 6Temporarily disable envelope monitoring using override only after confirming safety and program correctness

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