Switching a control of a robot in a manual recirculation mode of operation

In a method for switching a control (1) of a robot (2) in a manual recirculation mode of operation (H) for moving the robot by manually imparting forces and / or torques to the robot as a result of switching, and in response to sensed and triggered / or target joint forces and / or -drehmomenten and / or a pose of the robot and an error response (R) (S40).