[Cause]
Force control gain automatic modification is turned on. In the force control command between the automatic adjustment on command and the automatic adjustment off command, the force control gain automatically changes on. The switch must be on.
[Countermeasure]
When automatically tuning the force control gain, turn ON force control gain automatic modification on the corresponding schedule data screen. If force control gain automatic tuning is not being performed, an automatic tuning ON instruction may have been executed inappropriately somewhere. Modify the program to prevent inappropriate execution of the automatic tuning ON instruction.