KUKA Error Message 2821 $ORI_TYPE implicitly set to #VAR

KUKA Robot Error Code 2821 $ORI_TYPE implicitly set to #VAR
Cause – The external TCP is activated for operating mode “T1” or “T2” ($IPO_MODE = TCP) and the orientation control $ORI_TYPE is set to #JOINT. This combination is not permissible.
Monitor
Effect – $ORI_TYPE is implicitly set to #VAR.
Remedy – Set $IPO_MODE to #BASE
– Set $ORI_TYPE to #VAR or #CONSTANT


KUKA Error Message 2821 $ORI_TYPE implicitly set to #VAR