2.5.1. ForceCtrl

Description	Sets factors for the force control function and turns it on/off
Input	『[F6]: Enter Command』→『[F1]: Motion, I/O』→『Force Ctrl』
Syntax	Force Ctrl ON, CRD=_,_,T=_,BC=_ Force Ctrl OFF
Parameters	CRD	Reference coordinate system	§ Reference coordinate system for the robot motion under force control (0: Base, 1: Robot, 2: Tool, 3: U, 4: Un) § The No. 2 tool is the tool number of the robot based on the currently active one. § The user coordinate system of No. 3 is based on the currently active one. § Select No.4 to enter the user coordinate system number on the right side.
	T	Force-control tool number	§ Select a force-control tool number to which the tool data is saved. (0-31) § It is different from the tool number of the robot.
	BC	Bias clear	§ Initialize the initial value of sensor to 0. (0: Disable, 1: Enable) § Set BC to 1 only if the tool does not come contact with any external object.