# 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 | 1, Error message from NC program.
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.