1420 Approximation not programmed

Hi All,

Please help me to overcome this error. I have a subroutine where I defined PTP Point C_PTP motion. Now, when I am running the program I am getting this error "1420: Approximation not programmed".

Here is the piece of code:

CONTINUE
IF (WEIGHT>=HIGH_WEIGHT) THEN
BAS(#ACC_PTP,80) ; Acceleration
BAS(#VEL_PTP,80) ; Velocity
ELSE
BAS(#ACC_PTP,100) ; Acceleration
BAS(#VEL_PTP,100) ; Velocity
ENDIF
;
$BASE=$NULLFRAME
$TOOL=TOOL_DATA[1]
CONTINUE
;
IF (LITE_ON_B) OR (LES_PLATE) THEN
;
BY_PASS_B = BYPASS_B3
PTP BY_PASS_B C_PTP
;
TRIGGER WHEN DISTANCE=1 DELAY=0 DO SO_PLATE_PICK=FALSE
;
NEAR_RT_B1 = NEAR_RT_B2
PTP NEAR_RT_B1 C_PTP
;
CONTINUE

Awaiting urgent replies.
Thanks

Hi Fluke,

Thanks for your help. I overcame this difficulty. Now, I have another problem to approximate the PTP_REL motion. The code is something like this.

$VEL_AXIS[1]=70
IF WEIGHT>=HIGH_WEIGHT THEN
$ACC.CP=3.0
$VEL_AXIS[1]=50
ENDIF
;
$VEL_AXIS[2]=$VEL_AXIS[1] ;*
$VEL_AXIS[3]=$VEL_AXIS[1] ;*

SWITCH SECTION2
;
CASE 1
;
$APO.CPTP=80
PTP_REL {A1 -15, A2 -30,A3 -20} C_PTP
;
CASE 2
;
$APO.CPTP=80
PTP_REL {A1 15, A2 -30,A3 -20} C_PTP
;
ENDSWITCH

The robot is always stopping at this point. I tried many tricks but it seems like something is bothering it.

Thanks