I was running through machine recovery testing with a customer on a new piece of machinery and got a strange error on the robot pendant I haven't seen before after pressing an E-Stop when the robot was mid-movement (linear move).
There was a popup message titled "Jogging", that said "The current coordinate system was changed, because the selected kinematic group does not support it. \n Old value: Tool \nNew value Axes"
The error message was "KSS03275 - Positioning motions to PalMode only allowed with individual PTP and SPTP blocks."
I was able to recover by switching to Teach, acknowledging the error then switching back to Ext and continuing, but this customer wants to normally have their pendant removed so hoping to avoid this error. On subsequent E-Stops the message would come up but not the pop-up, and it could be recovered from the PLC. May never happen again, but I am curious about the root cause of this. Any insight would be appreciated.
The robot is a KR120 R3200 PA (KRC4 NA UL controller), running system software 8.5.8. Tech packages: