ID 292061
Couple kinematics: TCP cannot be reached. | ||||
Description | The programmed TCP of the couple kinematics cannot be reached. This may be because of missing degrees of freedom or the turning axis of a member kinematic is programmed separately and is in conflict with the programmed TCP. Example: 1. A configured couple kinematic consists of linear axes. However, a rotation axis of the TCP is programmed in the NC program. The TCP with the configured member kinematics cannot be reached as the rotary degree of freedom is missing. 2. Couple kinematic consisting of a robot and the same rotation axis (e.g. C axis) is programmed with different values for the robot and the TCP (e.g. C_TCP=45 C_ROB=10). | |||
Response | Class | - | Depending on the module where error occurs:
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Solution | Class | - | Add an additional kinematic which supplies the required degree of freedom or change the NC program so that the programming of member kinematics and TCP are not mutually excluded. | |
Parameter | %1: | Current value [-] | ||
Kinematics ID of the couple kinematic | ||||
%2: | Error value [-] | |||
Internal ID of error cause (for diagnosis by specialist only) | ||||
Error type | - | |||
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