ID 292004

Kinematic transformation: Illegal argument for ACOS.

Description

Selection of kinematic transformation (#RTCP ON, #TRAFO ON) with wrong or incomplete parameters has lead to a calculation error.

If machine is not homed, this error also can occur because of wrong or invalid axis positions.

For more information on kinematic transformation, see
[PROG// Section: Rotation Tool Centre Point (RTCP)]
[KITRA//Introduction].

Response

Class

-

Depending on the module where error occurs:

• Abort NC program processing.
• Movement stop.

Solution

Class

-

Check axis positions, axis configuration and parameters of kinematic transformation.

Parameter

%1:

Current value [-]

ID of incorrectly configured kinematic

%2:

Current value [-]

Internal ID of error cause (only for diagnosis by specialists)

Error type

-