[Haythem]

Hello,

I have a program that consists of picking up and placing parts using a KUKA KRC2. Due to the number of points needed, I had to use multiple reference frames. When I started the program on the robot, I got many error messages. These messages disappeared when I deleted several reference frames to keep only two. 

My question is the following: am I limited to a certain number of reference frames to avoid confusing the robot during its operation? Is there a setting that needs to be changed on the robot to avoid these error messages?

Thank you for your help.

[Vineet]

Can you share the snapshot of the error messages you got? Can you also share your station?

[Haythem]

Hello,

Thank you for your answer.

The error was: the robot can't reach the the point due to the base change.

Here is a link to access the Robodk station, you can run the program "Main_Program" to see the simulation.
https://drive.google.com/file/d/1euxz8aU...sp=sharing

I thank you for your help.