[Cause]
During insertion, the angle of the held part became equal to or greater than the specified value. Alternatively, in the “surface matching” function of the profiling function, the tool frame orientation during profiling deviated from the taught point orientation corresponding to that position by more than the specified value.
[Countermeasure]
1 Check whether the posture of the workpiece changes significantly during mating.
2 Whether the value of the basic data "upper limit of attitude change" is too small.
3 For the "Face Matching" function of the profiling function, please confirm the value of "Position Change Upper Limit" or confirm the system of teaching points, workpieces, tools, etc. condition.