Cause:
The coordinate-system type in use does not match the tool type.
Troubleshooting:
If the reference coordinate system of the coordinate system used in the motion statement is the flange coordinate system, the corresponding tool should be a fixed tool. If the reference coordinate system is not the flange coordinate system, the tool should be non-fixed. An error is reported if they do not correspond.
Solution:
Check whether they match and modify them.