What causes KUKA Robot alarm KRC0518?

Incorrect target position values in the motion command or program logic. Software axis limits configured incorrectly in the KRC parameter set (PARAM.SRC or axis configuration). TCP (Tool Center Point) offset or tool length compensation causing calculated position to exceed limits. Program referencing wrong axis number or coordinate system transformation applied incorrectly. Robot calibration or zero point offset has drifted, shifting the effective working envelope.

How do I fix KUKA Robot alarm KRC0518?

1. Verify the target position coordinates in the program match the intended workspace and review motion command syntax in KRL code 2. Check the software axis limits for the affected axis in Robot -> Accuracy -> Axis Data or PARAM.SRC configuration file 3. Confirm the current axis position using the teach pendant diagnostics or KRC display to ensure no calibration drift 4. Review TCP offset and tool compensation values to ensure they do not cause the target point to exceed physical boundaries 5. Test with a reduced motion target position closer to robot center to isolate whether limits are correctly configured or physically insufficient 6. If limits are confirmed correct, perform axis recalibration or zero point adjustment according to KUKA setup procedures and restart the controller

KUKA Robot codes

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KUKA Robot Controller

Overtravel/Limit · Advanced

Alarm KRC0518

KUKA Robot KRC0518 - Software limit <motion direction> <axis number> out of range

This alarm indicates that a programmed motion command attempts to move a specified axis beyond its configured software limit boundaries in the specified direction (positive or negative). The robot controller prevents execution of the movement to protect the mechanical structure from over-extension or collision with machine guarding. The target position violates the axis travel range defined in the robot's system parameters.

KUKA RobotOvertravel/LimitAdvanced

KRC0518

KUKA Robot KRC0518 - Software limit <motion direction> <axis number> out of range

Software limit <motion direction> <axis number> out of range

Common Causes

Incorrect target position values in the motion command or program logic
Software axis limits configured incorrectly in the KRC parameter set (PARAM.SRC or axis configuration)
TCP (Tool Center Point) offset or tool length compensation causing calculated position to exceed limits
Program referencing wrong axis number or coordinate system transformation applied incorrectly
Robot calibration or zero point offset has drifted, shifting the effective working envelope

Troubleshooting Steps

1Verify the target position coordinates in the program match the intended workspace and review motion command syntax in KRL code
2Check the software axis limits for the affected axis in Robot -> Accuracy -> Axis Data or PARAM.SRC configuration file
3Confirm the current axis position using the teach pendant diagnostics or KRC display to ensure no calibration drift
4Review TCP offset and tool compensation values to ensure they do not cause the target point to exceed physical boundaries
5Test with a reduced motion target position closer to robot center to isolate whether limits are correctly configured or physically insufficient
6If limits are confirmed correct, perform axis recalibration or zero point adjustment according to KUKA setup procedures and restart the controller

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