221-006F

Identify active kinematic number

Press MOD key, navigate to Machine Parameters, and note the kinematic number shown in alarm %1. This identifies which KINEMATICSXXX.CFG file is problematic.

Write down the exact kinematic number - it will be needed to locate the correct configuration file.

Access kinematic configuration file

In Programming and Editing mode, press PGM MGT key, navigate to TNC:\system\Kinematic\ directory and open the corresponding KINEMATICSXXX.CFG file for inspection.

Do not edit system files unless you have proper backup and authorization from machine tool builder.

Verify insertion point definitions

Search for 'INSERTION_POINT' entries in the configuration file. Check that every insertion point index referenced in the kinematic chain (typically 0, 1, 2, etc.) has a complete definition block with position and orientation data.

Valid insertion point definitions must include position vectors and proper syntax. Missing brackets, commas, or values will trigger this alarm.

Restore from backup or factory default

If insertion point definitions are missing or corrupted, restore the kinematic configuration from a known good backup. If unavailable, contact the machine tool builder for the correct configuration file for your specific machine model.

Never use kinematic files from different machine models - this can cause crashes and damage.

Check file integrity

Navigate to TNC:\system\Kinematic\ using PGM MGT key and attempt to open the active kinematic configuration file. Look for unusual characters, truncated lines, or missing closing brackets in insertion point definitions.

Compare file size with backup versions - significantly smaller size indicates data loss or corruption.

Verify syntax structure

Examine the file structure for proper syntax: each INSERTION_POINT section should have complete opening and closing braces, comma-separated values, and all required parameters (position, orientation vectors).

Even a single missing comma or bracket can invalidate the entire kinematic configuration.

Restore from system backup

Access TNC:\system\backup\ directory or external backup media to restore a previous working version of the kinematic configuration file. Use PGM MGT copy function to replace the corrupted file.

Check file date stamps to identify the most recent backup before the alarm started occurring.

Rebuild using KinematicsDesign

If no backup exists, use Heidenhain KinematicsDesign software (available from Heidenhain technical support or machine builder) to rebuild the kinematic configuration from machine specifications.

Incorrect kinematic parameters can cause serious machine crashes. Only rebuild with exact specifications from machine documentation.

Review recent configuration changes

Check maintenance logs or TNC event log (MOD → Service → System Logbook) for recent kinematic parameter changes or configuration file modifications that preceded this alarm.

Look for entries related to kinematic activation, TCPM function changes, or machine parameter modifications in the days before alarm occurred.

Verify kinematic chain completeness

Open the kinematic configuration file and trace the complete kinematic chain from base through all axes to tool insertion point. Ensure each referenced component and insertion point is properly defined with complete data.

Missing intermediate insertion points in multi-axis machines will prevent proper transformation calculations.

Cross-reference with machine documentation

Compare the insertion point structure in the configuration file against the machine kinematic diagram provided by the machine tool builder. Verify that the number and sequence of insertion points matches the physical machine structure.

Machine tool builder documentation should show insertion point locations for each rotary axis and tool interface.

Revert to previous working configuration

If changes were recent, restore the previous kinematic configuration that was known to work. Access backups from before the modification and copy the working KINEMATICSXXX.CFG file back to TNC:\system\Kinematic\ directory.

Keep dated backups of all kinematic files whenever making intentional changes to machine configuration.