Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 128

9 Using the Force Sense Function (Teaching)
<Method 1>...Perform teaching operation after disabling force sense control.
By disabling force sense control, the "command position" changes to the "force sense position command".
<Method 2>...Perform teaching operation after pressing the "Teach pos. search" [Execute] button.
By pressing the "Teach pos. search" [Execute] button while force sense control is enabled, the "command
position" is changed to the "force sense position command" while retaining the force sense control status. If
performing teaching with force sense control enabled, use this method. (See section 9.2.1.1 for details on
searching for the teaching position.)
9-116 Teaching Operation