Hi,
did you change any machine data in R1/$machine.dat and/or $robcor.dat. Message No. 469 with parameter E5 is the reason why message no. 1541 follows. Basically 469 tells your kinematic model configured inside $machine.dat the robot controller no longer fits to your dynamic model of the robot stored inside $robcor.dat. Thes two features (kinematic and dynamic model) are checked for consistency. So check your machine and compare your machine data to the original ones for your machine. This has nothing to do with RDC data or anything similar you simply have invalid machine data.
Otherwise you would have to deactivate the dynamic model:
https://www.robot-forum.com/robotforum/kuk…41903/#msg41903
But this is highly not recommended because of losing e.g. any warranty whatsoever.
Fubini