6647		4

	J7 acceleration limit over
	Motion exceeded the 7th axis acceleration limit.
	1. Check if any axis, including the hand and the work-piece, interferes with an obstacle (peripheral devices, pipes or wires). 2. Check if the hand, including a work-piece, specification is outside the robot standard specifications. 3. Check that the FG terminals on the robot and the controller are grounded. 4. Check that the robot and the controller are away from noise source such as a welding machine. 5. Check if the robot and the controller are firmly connected with the cables. 6. Decrease the speed and acceleration.