Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 130

9 Using the Force Sense Function (Teaching)
(Example)..If inserting pins while following the workpiece shape with stiffness control (stiffness coefficient ≠ 0),
external force acts on one side of the pin. By performing
be moved in a direction in which no external force acts. There may be cases in which the robot is unable to
move to a position in which no external force acts by performing this function only once. In such a case, perform
several times while keeping an eye on the force sensor data until the reaction force becomes sufficiently small.
Copying movement with stiffness
control
9-118 Teaching Operation
teaching position search" at such times, the robot can
"
External
force
produced
performing
By
search", the robot moves to a
position in which no external foce
acts.
teaching position
"