[Cause]
The force control gain automatic adjustment function cannot be executed in the copying function.
[Countermeasure]
Rewrite the force control gain by hand. For setting methods, refer to “FORCE CONTROL GAIN(IMPEDANCE PARAMETERS)” (force control gain (damping parameters)) in the “PROGRAMMING AND TEACHING OF FORCE CONTROL INSTRUCTIONS” (force control programming and teaching) chapter of R-30iB CONTROLLER Force Sensor OPERATOR’S MANUAL (B-83424EN). For LRMate, M-10iA, and M-20iA series robots, start the host frequency at approximately 0.5Hz and increase it by 0.25Hz each time. For M-710iC, R-1000iA, R-2000iB, and R-2000iC series robots, start the host frequency at approximately 0.1Hz and increase it by 0.1Hz each time. Once even slight vibration-like motion appears, do not increase the gain to that value or higher.