# ID 21425

Axis not referenced! Automatic trafo selection not possible.
Description | A kinematic transformation may only be selected if all axes involved are referenced. If automatic transformation selection is set with the channel parameter P-CHAN-00151 (auto_enable_kin_trafo), an implicit check is made whether all transformation axes are referenced when manual operation mode is selected (G200, G201) or in the first motion block in the NC program. If this is not the case, this warning message is output for real drives.
Response | Class | 2 | Abort NC program processing.
Solution | Class | 3 | Check and modify the NC program. When the channel parameter P-CHAN-00151 is active (auto_enable_kin_trafo), all transformation axes must be homed before the first motion (G74). Alternatively, P-AXIS-00014 can be set for axes with absolute encoders.
Parameter | %1: | Logical axis number [-]
Number of the unreferenced axis
Error type | 1, Error message from NC program.