[Cause]
Failed to reach the work object within the limited time.
[Countermeasure]
1 Confirm whether the approach point is too far away from the point where insertion should be performed or the point where push should be performed. The distance between the approach point and the contact point should be roughly set to about 5mm.
2 Adjust the base data "Approach Rate" to a larger value than it currently is.
3. For ‘Automatic profiling’ of the profiling function, set the basic data ‘Tool entry speed’ higher than its current value, or check and correct the tool entry direction and place the force control starting position closer to the object to be entered. Correcting the start position also affects the profiling motion, so check and correct the other taught points as well.