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