6677		3

	Dest. pos. out of J7 soft motion limit
	(1) The motion destination position of the 7th axis is out of the software motion limit. (2) The robot cannot physically perform linear movements in the CP motion for the coordinate entered.
	1. Change the motion destination position to within the motion space. 2. If this error occurs after you change the robot specifications (CALSET), check that you have not executed wrong procedures to change the specification. 3. Check that the robot does not pass the singular point vicinity in the CP motion and correct the program so that it avoids the singular point. However, if you return the robot to within the motion space, use the manual mode for each axis. It is not possible to move an axis with either the XY mode or the TOOL mode.