[Cause]
Preparations for automatic gain adjustment have not been completed.
[Countermeasure]
Move the robot briefly in each of the 3 X, Y and Z directions at several hundred mm/sec, and return it to the same position. Run automatic force control gain adjustment again before releasing the deadman switch or performing an emergency stop. If the deadman switch is released or an emergency stop is performed, repeat the procedure from the movement in the 3 “X”, “Y” and “Z” directions.