EMB ERJ 170/175 ER/LR
Flight Crew Air Transport Pilot (ATP)
Situational Awareness; Communication Breakdown
ATC Issue All Types; Deviation / Discrepancy - Procedural Clearance; Ground Incursion Taxiway
Air Traffic Control Issued Advisory / Alert
Chart Or Publication; Procedure; Human Factors
We landed on RWY 22L at EWR and exited the runway on taxiway P2. Ground control cleared us to cross RWY 22R on taxiway C and make a right on taxiway A and then taxi to our gate. We planned on contacting Ramp control before entering the ramp somewhere around taxiway Uniform. Around taxiway RH; another [Company] plane began to pull onto taxiway Alpha and stopped short because we were taxiing by on taxiway Alpha.  At this point were monitoring ramp control on the number two radio. The frequency was busy and we were waiting for a moment to get a word in. The pilot of the other [Company] plane complained to the Ramp Controller that we were on Alpha. The Ramp Controller yelled at us and told us we were supposed to have contacted Ramp Control north of taxiway Kilo and if there is no response we are supposed to stop there and wait. We telephoned Ramp Control when we got to the gate and he told us the 'expanded ramp procedures' we're in effect and it was on the ATIS. We checked the ATIS again and it was not there.   I have looked at every conceivable chart about the EWR airport and nowhere do I see anything about there being a rule about contacting Ramp north of Kilo and if no one responds that we are supposed to stop there. As far as I know taxiway Alpha is under the jurisdiction of Ground Control and stopping on it would be wrong.  Also; I have no idea what 'expanded ramp procedures' means and again I have looked at every chart we have. If I missed it; I accept being in the wrong and will admit it to everyone involved.  Maybe I missed a memo; but this needs to be published on a chart somewhere.I forgot to mention; the Ramp Controller said this is an ongoing problem with [Company]. Well I guess so because this rule isn't published anywhere.  Also; I spoke to a EWR-based Captain and he said the rule about contacting Ramp north of Kilo is 'tribal knowledge' and isn't published. We are just supposed to know.
[Report narrative contained no additional information.]
ERJ-175 flight crew reported they were reprimanded during taxi at EWR for not adhering to a procedure they could not find in any applicable publications.