# ID 21323

For #TOOL ORI CS function active kinematic transformation is required.
Description | For non-Cartesian machine kinematics, such as hexapod kinematics, selecting the automatic alignment function (#TOOL ORI CS) determines that the kinematic transformation is not enabled. Example: Wrong: N10 #KIN ID[26] N20 #TRAFO ON

N30 G01 G90 X10 Y10 Z100 A15 B15 C0 F5000

N40 G01 G90 X-10 Y-10 Z100 A15 B15 C0

N50 #TRAFO OFF

N60 #TOOL ORI CS

N70 G01 G90 X25 Y25 Z0 A-15 B-15 C0

:

N1000 M30

Correct:

N10 #KIN ID[26]

N20 #TRAFO ON

N30 G01 G90 X10 Y10 Z100 A15 B15 C0 F5000

N40 G01 G90 X-10 Y-10 Z100 A15 B15 C0

N50 #TOOL ORI CS

N70 G01 G90 X25 Y25 Z0 A-15 B-15 C0

N80 #TRAFO OFF

:

N1000 M30

Response | Class | 2 | Abort NC program processing.
Solution | Class | 3 | With non Cartesian machine kinematics, kinematic transformation must be enabled (#TRAFO ON) before selecting the automatic alignment function.
Error type | 1, Error message from NC program.