[Cause]
When the torque end judgment switch was turned to "ON" and force control was executed, the torque had not yet reached a value smaller than the torque upper limit value within the limit time.
[Countermeasure]
1 Change the gain setting of force control, or
2 Increase the advanced data "Maximum torque", or
3 Change whether to increase the setting of parameter table data such as "Pushing time" or "Insertion time upper limit", or check whether there is any abnormality in the workpiece.