ABB Robotics RobotWare 6 Applications Manual page 35

Force calibration (initial value)
For this initial force calibration, it is enough to use two measurements at different
force levels. Repeat the procedure until approximately reaching the max force
(typically 2-3 times).
Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
3 The gun opens and closes.
If the tips are in contact after this, tap Yes.
If the tips are not in contact, tap No to redo the check of delta collision
position.
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3 Servo Gun Setup wizard
3.2 Running the Servo Gun Setup wizard
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