ID 22242

Programmed and active kinematic IDs are not identical.

Description

With simple standard kinematics, the kinematic ID can be optionally specified when singularity monitoring is selected or deselected with #SINGULARITY AVOIDANCE ON/OFF. In this case, the kinematic ID must be identical with the ID of the currently active transformation.

The kinematic ID need only be specified for #SINGULARITY AVOIDANCE ON/OFF with transformations that consist of couple kinematics. Here, the programmed ID addresses the ID of a subordinate member kinematic of the active transformation.

Response

Class

2

Abort NC program processing.

Solution

Class

3

Check and modify the NC program. There are 2 options for this:

• Use the identical kinematic ID in #SINGULARITY AVOIDANCE ON/OFF as for the currently active transformation
• Remove the kinematic ID specified. The ID of the currently active transformation is implicitly adopted (not allowed for couple kinematics).

Parameter

%1:

Current value [-]

Programmed kinematic ID

%2:

Current value [-]

Kinematic ID of the currently active transformation

Error type

1, Error message from NC program.