Cause:
The robot wrist point is x=0,y=0.
Troubleshooting:
Check whether the target point has an axis 1 singularity.
Solution:
Change the motion type or target point.
Case sharing:
Lin(cp0)
If the Cartesian value of cp0 is (0,0,0,0,0,0)
then running this statement reports an axis 1 singularity error.