[Cause]
The continuous rotation axis is performing non-continuous rotation motion, and its speed exceeds the allowable value (180[deg] / $SCR.$ITP_TIME[msec]). Even a continuous rotation axis performs non-continuous rotation motion (normal motion) if there is no continuous rotation speed instruction. Even if there is a continuous rotation speed instruction, step execution also results in non-continuous rotation motion.
[Countermeasure]
If this alarm occurs during step execution, select continuous operation mode. If motion in non-continuous rotation mode is required, reduce the maximum axis speed setting. This is limited to axes such as additional axes for which the user can set the maximum speed. Note that changing the maximum axis speed may change the motion of programs that have already been taught.