[Cause]
The rotation axis when tightening the screw does not match the J6 axis. To ensure safety, the rotational angular speed is limited.
[Countermeasure]
This is not an error. If instructions for tightening screws are needed, design the system so that the screw-tightening rotation axis coincides with the robot's J6 axis. Also place the tool coordinate system origin on the J6 axis.