[Cause]
1. The teaching position is outside the action area.
2. The taught Cartesian motion position is near a J1 singularity, where the rotation center of the robot wrist axes lies on the J1 axis. Alternatively, Cartesian motion approached a J1 singularity.
3. A quadrature jog was performed near the singular point J1.
4. The position before position correction, tool correction or visual correction satisfies the reason 1 or 2.
5. A position, tool, or visual correction of 180 degrees of wrist axis rotation was performed.
[Countermeasure]
1. Modify the teaching position to within the action area.
2. Modify the teaching position in order to avoid approaching the J1 singular point, or set a passing point at a position away from the J1 singular point to bypass the action. or more Change to joint movements.
3. Jog the joint away from the singular point.
4. Take countermeasures 1 or 2 for the position before correction. If corrections are made, take countermeasures for the pre-correction position of each correction.
5. Correct the correction amount to avoid correction of 180 degrees of wrist axis rotation.