KUKA Error Message 2829 OriJoint not possible: Configuration of start and target position differs

KUKA Robot Error Code 2829 OriJoint not possible: Configuration of start and target position differs
Cause – This occurs when the TCP is moved over the extension of the line A 2 – A 3 (“elbow configuration”). This prevents the TCP from moving with a different orientation to a programmed point.
Monitor
Effect – Ramp-down braking; the motion block cannot be executed with $ORI_TYPE = #JOINT.
Remedy – Set $ORI_TYPE to #VAR or “CONSTANT”
– Change the orientation of the end point


KUKA Error Message 2829 OriJoint not possible: Configuration of start and target position differs