Force control now is a standard feature on all AccurET position controllers. The force control algorithm can be used with an external force sensor for high-accuracy applications, or, using the internal force estimator, the sensor can be omitted to save space. The force control consists of three phases: fast motion, low-speed approach and touchdown. Fast motion is a standard movement using position control. Without stopping the motion, the controller switches to low-speed approach and readies for contact. During touchdown, the user can specify the amount of overshoot, the force applied and the acceptable tolerance range.