# ID 292016

Kinematic transformation: Singular matrix.
Description | Iterative transformation algorithm with active kinematic transformation (#RTCP ON, #TRAFO ON) does not provide a valid result. Can occur, for example, if moving to a singular axis position was done. If the machine is not homed, this error may also 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 | - | Move in valid axis position range.
Parameter | %1: | Current value [-]
ID of incorrectly configured kinematic
%2: | Current value [-]
Internal ID of error cause (only for diagnosis by specialists)
Error type | -