[Cause]
The X component of the force exceeds the limit value.
[Countermeasure]
Confirm 1～6 in order.
1 Confirms the position of the approach point (no contact before starting the force control command).
2. Check whether excessive external force is being applied by the tool. Tools that may apply excessive external force include grinders and automatic nut tightening devices. Alternatively, when using such tools, turn ON ‘Force noise clearing switch’ on the performance screen.
3 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.
4. The speed in the insertion direction may be too high, causing an impact force. Reduce the value on the basic screen (fitting speed, insertion speed during phase alignment, or insertion speed during search) by 10% at a time.
5 gradually reduces the (insertion force) of the base picture by 10% each time.
6. Gradually increase the X component of (Allowable force value), (Allowable phase alignment force value), or (Allowable fitting force value) on the performance screen by 10% at a time.