[Cause]
Before executing the force control parameter setting table in which the simple customization function is invalid, the force control parameter setting table in which the simple customization function is valid was executed. or The force control parameter setting table that is valid for the simple customization function has been continuously executed more times than the value specified in the parameter "Maximum number of consecutive retries".
[Countermeasure]
1 Execute the force control parameter setting table in which the simple customization function is invalid before executing the force control parameter setting table in which the simple customization function is valid. pass Find the initial value of the force sensor through the invalid parameter setting table of the simple custom function, and use this value as the reference value in the valid parameter setting table. to use.
2 Increase the value of "Maximum number of consecutive retries" in the effective force control parameter setting table of the simple custom function.
3 If an alarm still occurs even after taking the above countermeasures, please consult our company.