"Joint overspeed error" ?
That is telling you there is an issue with the path, usually. This normally occurs when Joint 5 is having to traverse too close to or past 0 degrees in linear interpolation, but I've had it in other situations also.
If you wish to do a save all to the PCMCIA card and then send me the .AS file I can load it in the simulation software and see if there is anything that pops out as being out of whack. I'll need to know the robot model (example FS05E)