Hallo, i am conducting an experiment in which the robot moves downwards until its tool makes contact with an inclined surface. After that i have a force mode with F=10N in z axis and unconstrained torque in the y axis. I want the robot to align perpendicular to the inclined surface using only force mode but it usually rotates to the opposite direction of that i want . I tried setting a negative torque close to zero and while it rotates in the right direction it does not make a good contact. Is there anything that i can do to fix it?
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Have you tried a higher force value in Z? 10 is very low compared to the tolerances of the FT sensor. 
Thank you for your reply , yes i have tried it with 20 N but it still rotates the opposite direction and with negative torques close to zero it over rotates.
Is the point of rotation offset from just the Z direction of the tool, or also X and Y?
I have aligned with surfaces in the past by coming down until contact, moving left and getting a second point, then backwards for a third point. I then ran each point into a function that aligns the x-axis of the first pose with the second pose and rotates around rz such that it is planar with the third pose, thus becoming aligned with the surface. If there does end up being a quicker way but just force-moding down onto the surface that avoids taking (at best) three measurements, Iād like to be able to!