What is the meaning of "Previous PLC1-M7019-The equipment has not returned to the origin, please perform the equipment return to the origin first" error text?

Why did the machine generate this error?

What are the possible causes of this error?

What are
The solution to the error "Previous PLC1-M7019-The equipment has not returned to the origin, please perform the equipment return to the origin first" is to first perform the equipment return to the origin before proceeding with