[Cause]
The change in external force during force control is too large.
[Countermeasure]
1 Check whether the robot is in contact with the surroundings. May occur due to collision.
2 When a grinder, automatic nut tightening device, etc. are installed on the robot, it may receive large external force from these devices. Consider whether it is possible to reduce the Rotation speed and other methods to reduce external forces. Or when using with this type of tool, turn on the performance data "Force Noise Clear Switch".
3 In situations other than those mentioned above, the robot may oscillate. Gradually decrease the Master Frequency value for the force control gain. Even after doing this it still happens When an alarm is issued, take the countermeasures in step 4.
4 Reduce the value of the basic data "Insertion Force" or "Pushing Force".
5 If it is the "Profiling" function, please increase the value of the performance data "Allowable value of force sense change".