1A0-0154

Check NC program for TCPM activation

Review the NC program and verify that FUNCTION TCPM or M128 is programmed before operations requiring tool carrier kinematics. FUNCTION TCPM is the modern syntax; M128 is legacy but still supported.

FUNCTION TCPM F TCP AXIS POS or FUNCTION TCPM F TCP AXIS SPAT should be programmed after tool call and before machining operations when using tool carrier kinematics.

Verify TCPM mode selection

If using angle heads or swivel heads, ensure correct TCPM mode is selected: F TCP AXIS POS (Positioning axis feed), F TCP AXIS SPAT (Spatial feed), or F TCP PATH (Path feed) depending on application requirements.

Incorrect TCPM mode selection can cause unexpected axis movements or feed rate deviations during transformation.

Add FUNCTION TCPM to program

Insert FUNCTION TCPM F TCP AXIS POS (or appropriate mode) in the NC program after the tool call (TOOL CALL block) and before any positioning or machining moves using the tool carrier.

Place TCPM activation in your tool call macro or cycle to ensure it's always active when tool carrier kinematics are needed.

Identify the operation context from %1 parameter

Note the context shown in the alarm message %1 parameter (e.g., Manual mode, Probing cycle, Tool measurement). This indicates where the kinematics is being ignored.

Common contexts include Manual operation, Touch probe cycles (TCP 4xx), tool measurement cycles (TCP 4xx), and certain canned cycles.

Check machine parameter restrictions

Access MOD > Machine Parameters and review CfgKinType, CfgKinManual, and related parameters that control kinematic behavior in different operating modes. Check if tool carrier kinematics is explicitly disabled for the mode shown in %1.

Only qualified service engineers should modify machine parameters. Incorrect changes can cause machine damage or collisions.

Switch to compatible operating mode

If attempting operations in Manual mode or with electronic handwheel, switch to Program Run or Program Run Single Block mode where tool carrier kinematics can be properly applied with TCPM active.

For touch probe operations with tool carrier kinematics, ensure your probe cycles are compatible and TCPM is maintained throughout the measurement routine.

Consult machine manufacturer documentation

Review machine-specific documentation for restrictions on tool carrier usage. Some machine manufacturers intentionally disable tool carrier kinematics in specific contexts for safety or technical reasons.

Machine builders often document these restrictions in supplemental manuals or service bulletins specific to the kinematic configuration.

Access kinematic configuration

Navigate to MOD > Kinematic Setup (or MOD > Machine > Kinematics depending on TNC software version). Review the complete kinematic chain definition for your tool carrier.

Document current kinematic settings before making any changes. Incorrect kinematic data can cause serious collisions.

Verify tool carrier kinematic type

Check that the kinematic type is correctly defined (e.g., SWIVEL_HEAD, TILTING_TABLE, ANGLE_HEAD). Verify all required axes (A, B, C) are properly assigned and rotation directions are correct.

Use the kinematic simulation function in Setup > Kinematic to visualize the transformation and verify correct behavior before machining.

Check kinematic table completeness

Verify all required entries in the kinematic table are present: base transformations, axis definitions, pivot point offsets, and reference point coordinates. Missing or zero values where data is required can cause kinematics to be ignored.

Compare your kinematic table with machine manufacturer's reference configuration or backup files to identify missing or incorrect entries.

Reload kinematic configuration

After verification or correction, perform a control restart (MOD > Control Restart) or reload the kinematic configuration to ensure changes are properly initialized in the transformation calculations.

Always perform a dry run with reduced feed rates after kinematic configuration changes to verify correct machine behavior.