[Cause]
It was detected during operation that the J4 axis was not at the 0 degree position. The reason is that at the starting point or end point of the movement, the J4 axis is slightly deviated from the 0 degree position, or the angle of the flange surface changes too much in one movement.
[Remedy]
Confirm the values of the J4 axis at the start point and end point. If this alarm still occurs even if the start point and end point J4 are both taught at 0 degrees, try dividing the action statement.