Countermeasure	Note 2	Error Solution
Do one of the following: - Reboot the Controller. - Check the system history and take action to resolve any position errors that occurred before and after this error. [Notes] - This error may occur if the HOFS setting is not properly reflected on the Safety board. After performing calibration, open the Safety Function Manager and set the correct HOFS. - This error may occur if torque control mode (TCLim command) is being used. Refer to the following manual and verify that it is set and operated properly. SPEL + Language Reference - This error may occur if the robot is moved while an emergency stop or other error is occurring. Be sure to reset the state before moving the robot.	Joint number 1:J1 2:J2 4:J3 8:J4 16:J5 32:J6	Reboot