61A2		4

	J2 torque limit time over
	The of 2nd axis torque command reached its limit and the time exceeded its limit while maintaining that status.
	1. Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires). 2. If this error occurs because the corresponding axis bumps into the mechanical stopper, change the software motion limit or check if you have executed the wrong procedures for CALSET. 3. Check if the hand, including a work-piece, specification is outside the robot standard specifications. 4. Check if the cable between the robot and the controller is firmly plugged.