[Cause]
When the parent's force control ended with an error, the child's force control was executed without retrying (unplugging).
[Countermeasure]
1 When performing assembly using multiple consecutive force control instructions, if the parent force control does not end normally, the child force control for insertion cannot be executed. Control (child force control that can perform retries). Check the error that occurred in the parent's force control, modify it and re-operate to avoid the error.
2 When performing force control of the child for a retry action, the user coordinate system and tool coordinate system are the same as the parent, and the opposite must have been specified. Insertion direction. Confirm the user coordinate system, tool coordinate system, and insertion direction on the basic interface.