How can I solve 50345 Error: Force control supervision error?

NRH

Hi,

I'm working with an ABB CRB 15000 GoFa robot (without any external sensors), and I've been experiencing some issues when activating the Force Control mode.

If I don't activate the supervision (trying to make the robot work without using supervision conditions), I get Error 50345: Force control supervision error, type 1.

If I try to implement the supervision conditions, I get Error 50325: Failed to activate force conditions.

I'm using code samples from the Application Manual - Force Control Standard for GoFa.

Has anyone had this issue before? Any advice would be greatly appreciated. Thanks!