Axes 23 are near a singularity.

Cause:

Axis 2 and axis 3 are nearly collinear.

Troubleshooting:

Check whether robot axes 2 and 3 are nearly in a straight line.

Solution:

Adjust the position of axis 2 or axis 3 so that axes 2 and 3 are not collinear.

Case sharing:

None.