In the past reporting period a new force torque sensor with enhanced force range was integrated to the system. The gravity compensation and the error correction were then adapted to the new sensor properties (weight, size etc.).  Finally the algorithm for the manual guiding of the robot with the sensor is realized. The user can easily grasp the tool and move it to the new position while the robot stores all positions in the program. This is a simple and user friendly procedure for teaching the reconfiguration and handling tasks with the robot.