KUKA Error Message 2822 Blending $ORI_TYPE=#VAR/#CONSTANT to $ORI_TYPE=#JOINT not possible

KUKA Robot Error Code 2822 Blending $ORI_TYPE=#VAR/#CONSTANT to $ORI_TYPE=#JOINT not possible
Cause – Inconsistent axis angle in CP-CP approximation from $ORI_TYPE = #VAR or #CONSTANT to $ORI_TYPE = #JOINT. This happens if one of the wrist axis angles turns too greatly during a non-OriJoint CP motion (see also message #1491).
Monitor
Effect – Exact stop
Remedy – Avoid excessive rotation of the wrist axis angles during non-OriJoint motions.


KUKA Error Message 2822 Blending $ORI_TYPE=#VAR/#CONSTANT to $ORI_TYPE=#JOINT not possible