Cause:
Statements with waiting functions, such as DIWAIT and WaitTime, are run while the robot's current coordinate system is a tracking coordinate system.
Troubleshooting:
Check whether statements such as DIWAIT or WaitTime have been added after the tracking-coordinate-system statement.
Solution:
Change the reference coordinate system of statements such as DIWAIT and WaitTime.
Case sharing:
RefSYS(refv0)
WaitTime (uint0)
If refv0 is an external tracking coordinate system, running the above two statements reports error 2213.