Code 973: ILLEGAL TOOL AXIS VECTOR

Type of error: B — Registered data (the program or tool data includes an error) Stopped status: J — Single-block stop Clearing procedure: P — Press reset key Display colour: Red On-screen parameters (shown in parentheses): WNo., NNo., BNo. Cause: An inappropriate command relevant to the vector of tool axis is given in the mode of tool tip point control. 1. In the mode of G43.4 with single-axis interpolation selected, the resulting tool path will not pass through the singular point although the sign of the angular position of the primary rotary axis is to be reversed. 2. The command of the vector of tool axis is not correct (as it will reverse the direction of the tool). 3. With single-axis interpolation selected, the command in a single block will cause a motion through more than 180° on the rotary axis of linear type. Action: 1. Modify the program for a tool path through the singular point, or select joint interpolation. 2. Divide the command block concerned in order that the resulting rotation of the tool direction per block will not exceed 180°. 3. Modify the program for a per-block motion angle of 180° or less on the rotary axis of linear type, or select joint inter- polation.