[Cause]
The sensor coordinate system for the fixed sensor has not been set.
[Countermeasure]
Take any of the following countermeasures:
1 When the force sensor is fixedly installed on the workbench, please refer to R CONTROLLER Force Sensor OPERATOR’S MANUAL (R-30iB Control device force sensor operating instructions) (B-83424EN) "APPENDIX FORCE SENSOR ATTACHMENT SETTING FUNCTION" (force sensor installation setting function) chapter "FIXING FORCE SENSOR ON THE WORKING TABLE" (setting when the force sensor is fixed on the workbench), set the sensor coordinate system.
2 When installing the force sensor on the robot wrist, please refer to R-30iB CONTROLLER Force Sensor OPERATOR’S MANUAL (B-83424EN) "APPENDIX FORCE SENSOR ATTACHMENT SETTING FUNCTION" of the chapter "CHANGING ONLY SENSOR ATTACHMENT TYPE" (only set when changing the installation mode), change the installation mode.