6100

Check Active Frame Commands

In HMI Diagnostics > NCK > Channel Data > Frames, verify current TRANS, ROT, SCALE values are within valid ranges and not causing matrix singularity.

Use G500 to reset all programmable frames and test if alarm clears

Verify Program Frame Syntax

Review NC program for proper frame command syntax. Check for SCALE values of zero, ROT angles causing gimbal lock, or TRANS coordinates exceeding machine data limits.

SCALE=0 or extremely small values will cause immediate frame calculation failure

Test Frame Reset

Execute G500 (cancel programmable frames) followed by individual frame commands to isolate which transformation is causing the matrix calculation error.

Check Work Offset Values

Navigate to HMI Parameters > Work Offsets > G54-G599 and verify all active work offset values are valid numbers, not NaN or infinity values.

Use machine data MD18600 $MN_MM_NUM_GLOBAL_USER_FRAMES to check maximum allowed work offsets

Reset Suspect Work Offsets

Clear and re-enter work offset data for currently active coordinate system. Use PRESET function or direct parameter modification in work offset tables.

Verify Frame Combination

Test work offset activation without programmable frames active. If successful, gradually add TRANS/ROT commands to identify interaction causing matrix failure.

Check TRAORI Status

In HMI Diagnostics > NCK > Channel Data > Transformation, verify TRAORI is properly configured and machine is not in singular position.

Singular positions in 5-axis kinematics can cause immediate TRAORI calculation failures

Verify Machine Data

Check transformation machine data MD24100-MD24150 for correct kinematic chain parameters and tool length compensation limits.

Test Without TRAORI

Deactivate TRAORI with TRAFOOF and test if frame calculations work normally. If successful, check tool orientation vectors and machine position limits.

Check Active Tool Data

In HMI Parameters > Tool Management > Tool Data, verify active tool length and radius values are reasonable and not corrupted (check for extremely large values).

Verify Tool Compensation Limits

Check machine data MD22600 $MC_TOOL_LENGTH_CONST and related tool compensation limits to ensure active tool data is within acceptable ranges.

Test with Neutral Tool

Activate T0 (neutral tool) and test frame calculations. If alarm clears, systematically test individual tools to identify corrupted tool offset data.

Perform NCK Reset

Execute controlled NCK reset through HMI Commissioning > Startup > NCK Reset to clear potentially corrupted frame calculation buffers.

NCK reset will clear all current program states and require machine re-referencing

Check NCK Diagnostics

Review HMI Diagnostics > NCK > Alarms > NCK Internal for any underlying memory or calculation errors that may be causing frame corruption.

Verify System Integrity

Run NCK system diagnostics and check for hardware-related issues affecting coordinate calculation engine performance.