Mitsubishi CR750 Series Instruction Manual page 102

9 Using the Force Sense Function (Teaching)
(3) Control mode/control characteristics selection (See section

Set the "control mode" and "control characteristics" numbers. In this example, control mode 1 and control
characteristics 1 are used, and therefore the settings are as follows.
[R32TB/R33TB]
(4) Force sense control enable operation (See section

Turn the servo ON after enabling force sense control.
 Force sense control is enabled and the robot moves automatically to the position at which a reaction force of
20 N can be obtained. Movement is also possible with normal JOG operation while force sense control is
enabled.
9-92 Force Sense T/B
9.1.1.2 .)
9.1.1.3 .)