STOP.G The last straight line uses the FINE command (G:i)

[Cause]

This action command cannot be executed until the previous action is completed.

[Countermeasure]

Change the immediately preceding instruction to FINE. On a robot with 5 or fewer axes, changing tools during linear tracking that ignores the taught orientation may cause this alarm. If it occurs, correct the taught position to a reachable orientation, or change tools after completing the tracking motion.