KUKA Error Message 1491 CP/PTP approximation not feasible

KUKA Robot Error Code 1491 CP/PTP approximation not feasible
Cause – In the CP block the traversing distance of an axis is greater than 180 degrees; S change in the CP block; software limit switch violated in travel along “shortest path”.
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KUKA Error Message 1491 CP/PTP approximation not feasible