# ID 292008

Kinematic transformation: Illegal angle phi.
Description | With active kinematic transformation (#RTCP ON, #TRAFO ON), moving axis to invalid positions. If machine is not referenced 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 | - | Move in valid axis position range.
Parameter | %1: | Current value [-]
ID of incorrectly configured kinematic
%2: | Current value [-]
Internal ID of error cause (for diagnosis by specialist only)
Error type | -