Force mode + waypoints for bending

Hey there.
I´m a bit confused on how to use force mode in combination with waypoints.
I need the robot to move from one waypoint to another applying force. Force direction = tools x.

I use force mode frame and choose tool as feature.

When I play the program the robot starts at the first waypoint and drifts off in the direction of the first tools x. It does not stop and ignores the other two waypoints.

Usually I use Grasshopper + Robots plug-in to generate the code, which works nicely. However, now I need to bend a wooden slat and the robot goes into protective stop directly as I start bending. I tried changing payload but this doesn’t help. That’s why I thought maybe force mode will do the job.

I´d appreciate your help
Cheers from Berlin

Here is my program: