# Illegal position data with Mitsubishi Melfa RV-2F-Q robotic arm

I have a project where I have to move a Mitsubishi Melfa RV-2F-Q robot to a position/orientation from an external source, so there are no pre-defined points available.

The problem I keep running into is that even if I give it a reachable position (within operating range), or even a position that is almost the same as its current one, it fails to move there with the error:

L2802 Illegal position data (dstn)

What causes this and how do I avoid it?

A simple case is when you give the robots coordinates in its base frame, but it expects realtive coordinates (in tool frame). If the current pose in the base frame is [1, 0, 0, 0, 0, 0] any you try to reach the coordinates [1.1, 0, 0, 0, 0, 0], in realtive coordinates you should transmit [0.1, 0, 0, 0, 0, 0]. The coordinates [ 1.1, 0, 0, 0, 0, 0] realative to the tool frame are be most probably out of the workspace. (vice versa is also true)