Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 134

9 Using the Force Sense Function (Teaching)
<Method 2>
• Ensure that the force sensor data is Fz=5N and that other axis components are 0 N / 0 N·m, and then
perform "teaching position search" with the servo ON. (See section 9.2.1.1 .)
9-122 Teaching Operation