[Cause]
When stop contact is valid, the TCP speed exceeds the cooperation speed limit value.
[Countermeasure]
When stop contact is enabled, enable speed clamping or control the speed using a function such as external override selection. Refer to the “High-speed mode” section of the Collaborative Robot Function operator manual (B-83744CH). If an alarm occurs during jogging, reduce the override. If an alarm occurs during circular motion or C circular motion, reduce the taught speed.