The change in joint 4 angle is too large, exceeding 90 degrees.

Cause:

The joint axis 4 angle changes too much between the starting and ending points. Please just check and modify the taught points to ensure the axis 4 angle change does not exceed 90 degrees.

Troubleshooting:

The joint axis 4 angle changes too much between the starting and ending points. Please just check and modify the taught points to ensure the axis 4 angle change does not exceed 90 degrees.

Solution:

Modify the taught points again.

Case sharing:

None.