[Cause]
When the zero-distance motion should be taught during the execution of the user program, a motion beyond the limited distance was taught. When the position check function is valid, the following 4 situations It is necessary to teach zero-distance movements.
1. The first action after starting the program
2. The first action in the subroutine
3. From the subroutine including robot actions to the initial action after return
4. The first action after executing the jump instruction
In either case, if an action beyond the limited distance (standard is 5mm) is taught, this alarm will be displayed.
[Remedy]
Please confirm whether the correct program is specified. In addition, regarding the above 4 situation, please teach the position so that the operating distance is within the limit.