KUKA Robot codes
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KUKA Robot Controller

Overtravel/Limit · Basic

Alarm KRC0764

KUKA Robot KRC0764 - ARRAY INDEX EXCEEDS ARRAY LIMITS 2100

This alarm indicates that a KRL program attempted to access an array element using an index value that exceeds the declared array bounds. The array index @P1@ is outside the valid range (0 to array size minus 1), causing an out-of-bounds memory access violation.

KUKA RobotOvertravel/LimitBasic

KRC0764

KUKA Robot KRC0764 - ARRAY INDEX EXCEEDS ARRAY LIMITS 2100

ARRAY INDEX EXCEEDS ARRAY LIMITS 2100

This alarm indicates that a KRL program attempted to access an array element using an index value that exceeds the declared array bounds. The array index @P1@ is outside the valid range (0 to array size minus 1), causing an out-of-bounds memory access violation.

Common Causes

  • Loop counter or index variable incremented beyond array length
  • Incorrect array dimension declaration (too small for intended use)
  • Off-by-one error in loop conditions or index calculations
  • Uninitialized or incorrectly calculated index variable
  • Recursive function or nested loop with unchecked array indexing

Troubleshooting Steps

  1. 1Review the array declaration in the KRL source code and verify the declared size matches actual usage requirements
  2. 2Check all loop constructs that access the array and ensure termination conditions prevent index overflow
  3. 3Add boundary validation logic before array access (e.g., IF index <= array_size THEN...)
  4. 4Inspect index calculation logic for mathematical errors or missing parentheses affecting operator precedence
  5. 5Enable KRL debug mode and use breakpoints to monitor actual index values at runtime before they exceed limits
  6. 6Recompile the KRL program after modifications and perform incremental testing with controlled input values

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