What causes KUKA Robot alarm KRC0515?

Array index value exceeds the declared array size or falls below the minimum index. Off-by-one error in loop counters or conditional statements accessing array elements. Uninitialized or incorrectly calculated index variable being used to access the array. Passing incorrect loop boundaries or array dimensions to subroutines that access arrays. Dynamic index calculation resulting in out-of-bounds values due to missing range validation.

How do I fix KUKA Robot alarm KRC0515?

1. Review the KRL source code to identify the line number where the array access is occurring and verify the array declaration and size 2. Check the index variable value and confirm it is within valid bounds (typically 1 to array size for KUKA arrays, or 0 to size-1 depending on declaration) 3. Add boundary validation and range checking before array access operations to ensure indices stay within declared limits 4. Verify loop counters and conditional statements that generate array indices are correctly initialized and incremented 5. Use the KRC teach pendant debugger to step through the program and inspect variable values at the point of failure 6. Reset the alarm, correct the index calculation or array bounds in the program, and reload the KRL file to the robot controller

KUKA Robot codes

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KUKA Robot Controller

System · Advanced

Alarm KRC0515

KUKA Robot KRC0515 - Array index inadmissible

This alarm occurs when a KRL program attempts to access an array element using an index that is outside the valid range of the array. This typically happens when the index value is less than the array's lower bound or exceeds its upper bound, or when an uninitialized variable is used as an array index. The controller halts program execution to prevent undefined behavior and potential safety hazards.

KUKA RobotSystemAdvanced

KRC0515

KUKA Robot KRC0515 - Array index inadmissible

Array index inadmissible

Common Causes

Array index value exceeds the declared array size or falls below the minimum index
Off-by-one error in loop counters or conditional statements accessing array elements
Uninitialized or incorrectly calculated index variable being used to access the array
Passing incorrect loop boundaries or array dimensions to subroutines that access arrays
Dynamic index calculation resulting in out-of-bounds values due to missing range validation

Troubleshooting Steps

1Review the KRL source code to identify the line number where the array access is occurring and verify the array declaration and size
2Check the index variable value and confirm it is within valid bounds (typically 1 to array size for KUKA arrays, or 0 to size-1 depending on declaration)
3Add boundary validation and range checking before array access operations to ensure indices stay within declared limits
4Verify loop counters and conditional statements that generate array indices are correctly initialized and incremented
5Use the KRC teach pendant debugger to step through the program and inspect variable values at the point of failure
6Reset the alarm, correct the index calculation or array bounds in the program, and reload the KRL file to the robot controller

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