PTP and PTPRel cannot use a tracking coordinate system.

Cause:

A PTP or PTPRel statement is run while the robot's current coordinate system is a tracking coordinate system.

Troubleshooting:

Check whether a PTP or PTPRel statement has been added after the statement setting the tracking coordinate system.

Solution:

Change the reference coordinate system of the PTP and PTPRel statements.

Case sharing:

RefSYS(refv0)
PTP(cp0)
If refv0 is an external tracking coordinate system, running the above two statements reports error 2212.