[Cause]
The robot passed the taught point before completing processing of the dispensing instruction (SS or SE). For example, this alarm occurs when dispensing is performed within 1500ms using a parameter setting table with a gun-off lead time of 1000ms and a gun-on lead time of -1000ms. The problem may occur when multiple dispensing instructions are close together (less than 30mm at 500mm/sec).
[Countermeasure]
Allow enough processing time for SS and SE. To do this, keep the number of taught points to the minimum required. Fewer taught points allow more accurate dispensing. Shorten the gun-on/gun-off lead times in the parameter setting table, or shorten the equipment lead time.
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Note Perform a cold start after SEAL-131 occurs to facilitate recovery.