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Check actual vs. nominal axis positions in Diagnostics > Axis State menu. Compare DM520 (axis position feedback) against expected values for the alarm position.

Do NOT move axes manually while in alarm state; use soft limits first (MD32110, MD32120).

Verify mechanical zero offset parameters: MD10100 (X-axis offset), MD10200 (Y-axis offset), MD10300 (Z-axis offset). Confirm DH parameters (MD11310-MD11340 for robots) match actual mechanical build.

Test kinematic transformation manually via Diagnostics > Kinematics menu. Input target Cartesian coordinates and verify the system can compute valid machine coordinates without alarm.

If distortion persists, perform axis recalibration using MD10010 (reference point type) and execute a machine zero search cycle (SIEMENS reference cycles G74 or manufacturer-specific calibration).

Access NCK menu path: Diagnostics > System Information > Kinematics. Verify MD11300 (kinematic type), MD11305 (DH parameters), and MD11310-MD11340 (chain configuration) match machine documentation.

Compare current parameters against backup configuration file or factory settings. Use Data Management menu to export/import kinematic datasets (typically stored in /user/md_kinematics or equivalent partition).

Back up current MD set before restoration; incorrect parameters cause cascading transformation errors.

Verify workspace limits: MD32110-MD32120 (soft limits per axis). Confirm target point lies within MD20050 (working space upper limit) and MD20060 (working space lower limit) if configured.

Perform NCK cold restart (menu: Machine > System > Startup > Cold Start) to reload all kinematic metadata and clear cached transformation errors.

Cold start will reset all active programs; save NC job queue before proceeding.

Check active frames in Diagnostics > Frame menu. Verify DM28010-DM28020 (tool offset X, Y, Z) and DM28030-DM28050 (tool orientation). Cross-reference against part program (G43/G44 commands) and SD43000-SD43005 (workpiece frame).

In part program, insert G49 (cancel tool offset) and reset frame to G54 (machine zero frame) immediately before the alarm point. Rerun program to isolate frame stack as root cause.

Verify tool geometry: DM28015 (tool length), DM28025 (tool radius). Ensure values do not create negative or physically impossible offsets that push target beyond workspace (check against MD20050/MD20060).

If alarm clears after frame reset, re-enable offsets incrementally and re-run to identify the specific frame combination causing singularity. Adjust DM or SD parameters as needed.