[Cause]
1. For an action group that does not exist, one of the orthogonal position check function and the orthogonal speed check function has been set to be valid.
2. For the axis that does not exist, one of the position check function of each axis and the speed check function of each axis has been set to be valid.
3. For the axis outside the target, one of the position check function of each axis and the speed check function of each axis has been set to be valid.
4. For a motion group in which axes other than normal additional axes are set as excluded, one of the Cartesian position check, Cartesian speed check, or T1 mode speed check functions has been enabled.
5. For speed-only axes, the position check function of each axis has been set to be valid.
6. For a motion group in which axes other than normal additional axes are set to speed only, either the Cartesian position check or Cartesian speed check function has been enabled.
[Countermeasure]
Disable the joint position check, joint speed check, Cartesian position check, Cartesian speed check, and T1 mode speed check functions.
Note To clear this alarm, power needs to be cycled.