[Cause]
1. The teaching position of orthogonal motion is near the singular point. Or approaching a singularity point in a Cartesian action.
2. A quadrature jog was performed near a singular point.
3. The position before position correction, tool correction, or vision correction is near the critical point.
[Countermeasure]
1. Modify the teaching position to avoid approaching the singular point. Or change to joint action.
2. Jog the joint away from the singular point.
3. Take countermeasures 1 for the position before correction. If corrections are made, take countermeasures for the pre-correction position of each correction.