KUKA Error Message 1420 Approximation not programmed <approximation criterion>

KUKA Robot Error Code 1420 Approximation not programmed <approximation criterion>
Cause – No value has been assigned to the program data “$APO.VEL”, “$APO.ROB”, “$APO.DIS”, and/or “$APO.ORI”.
Monitor – When starting the first motion block with approximate positioning.
Effect – Ramp-down braking.
– All active commands inhibited.
Remedy – Alter the program accordingly.
– Acknowledge message.


KUKA Error Message 1420 Approximation not programmed <approximation criterion>