# System parameters adjustment for force control

**URL:** <https://tech-community.robotics.abb.com/t/system-parameters-adjustment-for-force-control/2516>\
**Category:** RobotStudio\
**Created:** [February 13, 2009, 4:00pm UTC](https://tech-community.robotics.abb.com/t/system-parameters-adjustment-for-force-control/2516 "2009-02-13T16:00:04Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![gianluigi](https://avatars.discourse-cdn.com/v4/letter/g/a5b964/32.png) [@gianluigi](https://tech-community.robotics.abb.com/u/gianluigi)\
**Post date:** [February 13, 2009, 4:00pm UTC](https://tech-community.robotics.abb.com/t/system-parameters-adjustment-for-force-control/2516/1 "2009-02-13T16:00:04Z")

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Hello,

We have installed a 6 dof ATI force/torque sensor on our ABB IRB 1600. I am trying to adjust the parameters on RobotStudio Online so that the robot would be more compliant. When I set a reference reaction force along z-direction, the robot starts moving downwards, till it reaches the surface and obtains that reference force, however, it bounces off the surface like a ball for a few times. Two contacting materials are both aluminum by the way.

Any suggestions about how to make the system parameters setup?

Thank you.