Force control-Servo lag limit exceeded- Emergency stop

in IRC5
I am working with integrated force control on a IRB6700 IRC5 with SafeMove 2 on it. When I try to activate force control and teach the robot by guiding it by hand it responds, but after a small distance of movement emergency stop is trigged. In the Teach pendent it says "Safety controller Servo-lag limit exceeded"
It is the same when I run the force control program , it starts to adjust to the forces but stops after certain distance of movement in the programmed when the force control is active.
What is the problem?
Should anything in the safety configuration changed ? Like Contact force Application?
It is the same when I run the force control program , it starts to adjust to the forces but stops after certain distance of movement in the programmed when the force control is active.
What is the problem?
Should anything in the safety configuration changed ? Like Contact force Application?
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Comments
But even without a tool on the robot, the robot robot goes into emergency stop after responding to external forces for a degree of movement.