1A0-0139

Identify active kinematic description

Press MOD key > Machine Configuration > Kinematic Configuration. Note the currently active kinematic description file name and path shown in the display.

The active kinematic file is typically shown with a highlighted indicator or checkbox. Write down the exact filename for comparison.

Review kinematic history and required configuration

Check if the NC program or setup documentation specifies a particular kinematic configuration. Compare this with the currently loaded configuration to identify mismatches.

Do not arbitrarily switch kinematic configurations without understanding machine geometry changes, as this affects all coordinate systems and safety zones.

Load correct kinematic description

In MOD > Machine Configuration > Kinematic Configuration, select the appropriate kinematic description that contains the required CMO definitions. Confirm selection and perform a control restart if required.

Machine parameter MP7501 defines the default kinematic file loaded at startup. Verify this points to your standard configuration.

Verify CMO presence in loaded kinematic

Access the kinematic file (TNC:\system\Kinematic\*.kin or *.knd) and review the CMO section to confirm the required collision monitoring object is defined. Use KinematicsOpt software if available for graphical verification.

CMO objects are defined in the <CollisionObjects> section of the kinematic XML structure. Search for the specific CMO name reported in the alarm context.

Identify the missing CMO name

Note the exact CMO identifier from the alarm message or context display. Press HELP key while alarm is active to see extended alarm information which may show the CMO object name.

The alarm detail screen typically shows the specific CMO designation that triggered the error in brackets or quotes.

Examine kinematic file CMO definitions

Open the active kinematic description file (TNC:\system\Kinematic\[filename].kin) using the control's text editor or external editor. Search the <CollisionObjects> section for the CMO name from step 1.

Always create a backup copy of kinematic files before editing. Incorrect syntax can prevent machine startup.

Check collision monitoring configuration

Navigate to MOD > Collision Monitoring > Fixture/Component monitoring. Review all active collision pairs and monitoring zones to identify references to the missing CMO object.

Use the filter function in collision monitoring tables to quickly search for specific CMO names across all monitoring definitions.

Update references or restore CMO

Either restore the CMO definition in the kinematic file with its original name, or update all references in collision monitoring tables and NC programs to use the new/current CMO name. Save changes and restart the control.

If multiple programs reference the old CMO, consider restoring the original name in the kinematic file rather than editing multiple NC programs.

Access collision monitoring setup

Press MOD key > Collision Monitoring. Review all active monitoring definitions including fixture monitoring, workspace monitoring, and any custom collision pairs defined in the tables.

Pay special attention to fixture-specific collision monitoring which often references CMOs unique to particular setups.

Identify incompatible CMO references

Cross-reference each CMO listed in the collision monitoring tables against the CMO objects defined in the current kinematic description. Mark any CMOs that appear in monitoring but not in the kinematic.

Disabling collision monitoring without resolving the configuration mismatch reduces machine safety. Address the root cause rather than bypassing protection.

Deactivate or update incompatible monitoring entries

For each monitoring entry referencing a non-existent CMO, either deactivate the monitoring pair, delete the entry, or edit it to reference a valid CMO from the current kinematic. Use the edit function in the collision monitoring table interface.

Consider creating kinematic-specific collision monitoring configuration files that load automatically with their corresponding kinematic description using PLANE/FUNCTION commands.

Save configuration and test

Save the updated collision monitoring configuration and clear the alarm. Perform a dry-run or simulation of the NC program to verify collision monitoring functions correctly with the revised setup.

Use the simulation mode with collision monitoring display (softkey 'Show Collision Monitoring') to visually verify all CMOs are recognized and monitored properly.