[Cause]
The axes of the user frame (remote TCP) or tool frame used for this motion are not orthogonal. UT in the alarm message indicates the tool frame, and UF indicates the user frame. For example, if a TP program writes a position-register value with an invalid axis orthogonality relationship into a frame, this alarm occurs when a motion using that frame is executed.
[Countermeasure]
Check whether the frame contents were overwritten by a TP program. If they were, check whether the axes are mutually orthogonal. To recover from this alarm, reset the contents of the frame whose number is shown in the alarm message. For frame setup, refer to "3 Robot System Setup" and "3.9 Frame Setup" in the R-30iB/R-30iB Mate Operator Manual (Basic Operation). Resetting the frame through the frame setup screen makes its axes mutually orthogonal.