How to reduce robot force in manual mode?

Tobias
✭
Our calibration thorns made of steel have become stump (not hardened). We run the calibration at low speed but the robot pressure is sufficient to kill the tools. Two questions:
- Is there a parameter setting or a rapid instruction to reduce maximum robot pressure during manual operation mode?
- Supposed, the robot is stiff and it presses on the calibration thorn: Does it teach the real surface contact location or does it teach the position inside the collision zone where it wants to got to?
Regards and thanks,
Tobias
0
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