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Siemens SINUMERIK Controller
Program/G-code · Intermediate · 30-120 minutes
Siemens 70010 - Channel block unreachable point on selection
Alarm 70010 occurs when a transformation selection command attempts to position machine axes to an unreachable kinematic configuration where the joint linkage cannot physically reach the platform/tool reference point. This typically indicates either incorrect machine geometry parameters, improper axis initialization, or an invalid target position outside the machine's workspace envelope.
70010
Siemens 70010 - Channel block unreachable point on selection
Channel block unreachable point on selection
On transformation selection, the machine axes are positioned with the joint rod not reaching the platform. This cannot happen with a machine that has been started up properly. If the joints have not yet been connected with the platform on start-up, this alarm will show an impermissible position of the machine axes Control reaction: Interpreter stop Alarm display.
Root Cause Summary
Alarm 70010 occurs when a transformation selection command attempts to position machine axes to an unreachable kinematic configuration where the joint linkage cannot physically reach the platform/tool reference point. This typically indicates either incorrect machine geometry parameters, improper axis initialization, or an invalid target position outside the machine's workspace envelope.
Safety
- Only qualified personnel should diagnose and clear control alarms; follow the machine builder's safety procedures and lockout/tagout where hardware work is required.
Causes and Fixes
- 1
Access Diagnostics > Machine Data in SINUMERIK Operate or via NCK menu. Navigate to MD10040 (KinematicType) and verify it matches your actual machine configuration (e.g., serial arm, delta robot, hexapod).
Do not modify kinematic type without formal machine documentation; incorrect type will render all transformations invalid.
- 2
Check MD10100 through MD10120 (geometric link parameters) against your machine's calibration certificate or CAD assembly. Common culprits: link lengths off by 1-2mm, zero-offsets not applied, or tool length compensation (MD10130) missing.
- 3
If geometry was recently modified, reload the machine data backup or re-enter values from Siemens commissioning documentation. Verify via $MC_GEOAX_ENABLE and $MC_TRAFO_TYPE_SELECT parameters are consistent with MD assignments.
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