[Cause]
The insertion has not ended within the control time.
[Countermeasure]
If it is "cylindrical fit", please confirm the following 1~4.
1 Confirm whether the posture of the workpiece changes significantly during mating,
2 Is the gap between the inserter and the inserted object too small?
3 Is the value of the basic data "insertion rate" too small?
4 Whether the value of the basic data “insert time cap” is too small. For phase search, please confirm the following 5 ~7.
5 Is the "phase matching angle upper limit value" too small?
6 Is the "phase matching mid-push pressure" too small?
7 Is the "phase matching torque" too small? For "hole search" or "clutch search", please confirm the following 8～10.
8 Is the "search range size" (search basic interface) too small?
9 Is the "Push Pressure in Search" too small? 10 Is the "target force" or "target torque" (search basic interface) too small?