Saturation error Force Sensor

gokturk07

I would like to learn  how  I can solve the saturation error which arising during the pressure application ?  The codes are like below.

PROC Path_20()

         

         MoveL Target_10_2_2_1,v1000,z10,tool1\WObj:=wobj0;

         MoveL Target_10_2_2_1_1,v100,z10,tool1\WObj:=wobj0;

      

         

         FCPress1LStart Target_10_2_2, v10 \Fx:= n1ForceX \Fy:= n1ForceY \Fz:= n1ForceZ, 100 \ForceFrameRef:=FC_REFFRAME_tool\ForceChange:=50 \DampingTune:=300 \TimeOut:=3\UseSpdFFW\PosSupvDist:=9e9, fine, tool1 \wobj:=wobj0;

    FCPressL Target_20_2_2,v10,200,z10,tool1\WObj:=wobj0;

         FCPressL Target_20_2_2_1,v10,200,z10,tool1\WObj:=wobj0;

     

         FCPressL Target_20_2,v10,1500,z10,tool1\WObj:=wobj0;

         FCPressEnd Target_20_2,v10,tool1;

        

        MoveL Target_20_2_1,v1000,z10,tool1\WObj:=wobj0;

        

        MoveL Target_30_2_1,v100,z10,tool1\WObj:=wobj0;

        MoveL Target_30_2_2,v100,z10,tool1\WObj:=wobj0;

   FCPress1LStart Target_30_2, v10\Fx:= n1ForceX\Fy:= n1ForceY\Fz:= n1ForceZ, 100\ForceFrameRef:=FC_REFFRAME_tool\ForceChange:=250\DampingTune:=300\TimeOut:=3\UseSpdFFW\PosSupvDist:=9e9, fine, tool1\WObj:=wobj0;

   FCPressL Target_40_4,v10,1500,z10,tool1\WObj:=wobj0;

        FCPressEnd Target_40_2_2,v10,tool1;

        MoveL Target_10_3,v1000,z10,tool1\WObj:=wobj0;