Error handling: Display;
Error reset: Possible
Content: In repeat mode, [command value – most recent command value] calculated for each axis exceeds the following values.
Axis rated maximum speed × 1.3. (The rated maximum axis speed depends on the model and axis number.)
Main cause: During robot motion, the robot was about to perform a motion near a singularity (abrupt motion). Such a motion mainly occurs when the speed of any axis changes abruptly during a linear motion that moves the TCP along a specified straight line. This motion is referred to below as motion near a singularity (abrupt motion). Motion near a singularity (abrupt motion) may occur when joint motions or linear motions overlap or switch.
Countermeasures: If sudden changes occur during robot operation, modify the taught data. If motion near a singularity (sudden motion) occurs during linear motion, change the interpolation command to a joint interpolation command, or check the taught data at nearby steps and other taught content.