hi there, my factory using lots of rv-e3jm robot too. as my experience, you seen over teach the one or more of the axis position. maybe you tru reduce it if the value is positive, and if the value is negative , you try to inctrease it . after settle the alarm, just teach little and little to get the point.
but that is a way to change the limit, if you know how to access the robot software to change the parameter.
however, im looking the software too, dos mode rmpss is missing, rt toolbox is unuseable for rv-e3jm.