I would appreciate advice on how to solve the following issue.I have a part that I am inserting into a 5C collet that has a spring loaded button that the part is pressed against. When the collet is closed pneumatically, it moves approximately 5 to 6 mm away from the robot gripper in the tool Z direction. What I need is a way to apply a force and move the robot while the collet closes. I have a FT 300 that I use to check if the part is aligned with the collet by measuring the insertion force as it is inserted. But, if I use the same method, as the collet closes I am not able to achieve consistent insert position.