[Cause]
Excessive external force was applied to the sensor head.
[Countermeasure]
1 Check whether the robot is in contact with the surroundings. May occur due to collision.
2. If there is no contact, this phenomenon may occur because of rapid acceleration and deceleration. Reduce the weight of the tool mounted on the force sensor, and reduce the motion speed or acceleration at the position where the alarm occurs.
3 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.
When 4 occurs during force control execution, check whether the force command value of the parameter is too large.
5 If the above situation is not the case, the force control gain may be inappropriate and cause oscillation. Gradually decrease the Master Frequency value for the force control gain.
6 Move the robot to the reference position and select the force sensor current value interface (please refer to R-30iB Control Device Force Sensor Operation Instructions Book (B-83424CH) "Force Sensor Current Value Interface") starts clearing the force sensor. Please execute the force sensor self-diagnosis command (please Refer to the R-30iB Control Device Force Sensor Operating Instructions (B-83424CH) "Force Sensor Self-Diagnosis Instructions") to confirm the force Check whether the sensor is normal.