Generated command value exceeded the speed limit. All joints were Emergency-stopped and motor power was turned OFF. On CP-motion or Pass-motion, the speed of each joint might change rapidly, so as to realize the target motion and pose of TCP.
Related Error codes:
84204061, 84204062, 84204063, 84204064, 84204065, 84204066, 84204067, 84204068
Double check your optimization settings after sending the project data. It is likely you may have reverted them to the default values.
ARM > AUX > CONFIG > confirm option 1 (mass of payload) and option 8 (set of motion optimization)
Optimal Speed Control Function (Owner’s Manual)