What causes KUKA Robot alarm KRC0113?

FRAME or BASE transformations with extremely large or invalid translation/rotation values causing position calculation overflow. Inverse kinematics calculation failure due to commanded TCP position outside reachable workspace generating infinite or undefined joint angles. Arithmetic operations in KRL code using REAL or INT variables that exceed maximum value limits (e.g., division by near-zero values). Corrupted $POS_ACT or $AXIS_ACT values in machine data due to resolver/encoder offset errors producing unrealistic position feedback. Tool or base calibration data with erroneous values creating mathematically invalid transformation matrices during motion planning.

How do I fix KUKA Robot alarm KRC0113?

1. Step 1: Note the exact program line number from alarm details and inspect KRL code for large numeric operations or suspicious FRAME assignments 2. Step 2: Verify all active TOOL and BASE data using Display > Variable > Single and check for unrealistic X/Y/Z values exceeding ±100000mm 3. Step 3: Command a mastering position (HOME or MASTERING POS) to reset calculated positions and verify encoder integrity 4. Step 4: Review motion command prior to overflow using Program > Edit and check if PTP/LIN target position is reachable using Display > Geometry 5. Step 5: Examine system variable $POS_ACT_MES and compare to $POS_ACT to detect resolver/encoder feedback corruption requiring recalibration 6. Step 6: Restore known-good machine data backup from WorkVisual archive if FRAME corruption suspected, then re-verify tool and base calibrations

KUKA Robot codes

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KUKA Robot Controller

System · Intermediate

Alarm KRC0113

KUKA Robot KRC0113 - Range Overflow

This alarm occurs when a calculated variable, position value, or numerical operation in the KRL program or system calculation exceeds the maximum allowable data type range. The controller detects overflow in axis positions, FRAME calculations, or arithmetic operations that produce results beyond defined limits. Program execution stops at the point where the overflow is detected.

KUKA RobotSystemIntermediate

KRC0113

KUKA Robot KRC0113 - Range Overflow

Range Overflow

Common Causes

FRAME or BASE transformations with extremely large or invalid translation/rotation values causing position calculation overflow
Inverse kinematics calculation failure due to commanded TCP position outside reachable workspace generating infinite or undefined joint angles
Arithmetic operations in KRL code using REAL or INT variables that exceed maximum value limits (e.g., division by near-zero values)
Corrupted $POS_ACT or $AXIS_ACT values in machine data due to resolver/encoder offset errors producing unrealistic position feedback
Tool or base calibration data with erroneous values creating mathematically invalid transformation matrices during motion planning

Troubleshooting Steps

1Step 1: Note the exact program line number from alarm details and inspect KRL code for large numeric operations or suspicious FRAME assignments
2Step 2: Verify all active TOOL and BASE data using Display > Variable > Single and check for unrealistic X/Y/Z values exceeding ±100000mm
3Step 3: Command a mastering position (HOME or MASTERING POS) to reset calculated positions and verify encoder integrity
4Step 4: Review motion command prior to overflow using Program > Edit and check if PTP/LIN target position is reachable using Display > Geometry
5Step 5: Examine system variable $POS_ACT_MES and compare to $POS_ACT to detect resolver/encoder feedback corruption requiring recalibration
6Step 6: Restore known-good machine data backup from WorkVisual archive if FRAME corruption suspected, then re-verify tool and base calibrations

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