Mitsubishi CR750 Series Instruction Manual page 107

(Example)..If inserting pins while following the workpiece shape with stiffness control (stiffness coefficient ≠ 0),
external force acts on one side of the pin. By performing
be moved in a direction in which no external force acts. There may be cases in which the robot is unable to
move to a position in which no external force acts by performing this function only once. In such a case, perform
several times while keeping an eye on the force sensor data until the reaction force becomes sufficiently small.
Copying movement with stiffness
control
9 Using the Force Sense Function (Teaching)
teaching position search" at such times, the robot can
"
External
force
produced
performing
By
search", the robot moves to a
position in which no external foce
acts.
teaching position
"
Teaching Operation 9-97