[Cause]
The upper limit of search execution times has been exceeded. This alarm occurs during "Search", "Phase Search", "Hole Search", and "Clutch Search".
[Countermeasure]
1 Check whether there is any abnormality in the workpiece.
2 If the position or phase does not match but this error occurs quickly without the robot performing a search, the target force or target torque parameter may be too small. Increase the value by about 2 tenths at a time until the robot moves.
3 If the receiving workpiece is not secured, it may move together with the workpiece being inserted during a search. Observe the workpieces. If this dragging is confirmed, reduce Search Pressing Force for Search, Hole Search, or Clutch Search, or Phase Matching Pressing Force for Phase Search, to a value that prevents dragging. If dragging persists even after reducing the value, parameter adjustment cannot resolve the problem. Secure the receiving workpiece.
4 If the gripper's holding force is weak, the receiving workpiece may rotate together with the workpiece being inserted, causing a position or phase mismatch. Observe the workpieces. If this dragging is confirmed, improve the gripper so that it holds the workpiece securely.
5 Although the search can be performed normally but the search command does not end, it is possible that (search end depth, "search", "hole search", "clutch search" "Search" case) or (Phase Match End Depth, "Phase Search" case) the value is too large. Enter the correct value.
6 Check Number of Retries on the advanced search screen. If the cycle time permits, increase this number. Increasing the number of retries reduces the frequency of this error.