A method for mounting, suitable for positioning through-hole component on a printed circuit board PCB, by means of an industrial robot that comprises a force and/or moment sensor and means for gripping and transporting a component, comprising the steps of: a. grabbing a component, b. transporting the component to a predetermined starting position, c. taring the force and/or moment sensor, d. transporting the component in the Z-axis, defined as a height over the surface of the board, in the direction of the board, until the component contacts the board surface, e. actuating a regulator with determined parameters, f. transmitting from the regulator, when output data are stabilized, of a signal to means for gripping and transporting of the industrial robot as Z-axis offset, if the Z-axis offset is greater than or equal to a preset parameter g. releasing the component from the means for gripping and transporting of the industrial robot and establishing the current position of the component as a starting point, if the Z-axis offset is less than a preset parameter h. moving the component along a predetermined path, beginning from the current position point, i. arresting the movement of the component, when the force sensor and/or the moment sensor detect an opening edge in the board, j. moving the component away from the opening edge based on data from the force and/or moment sensor, k. repeating steps g.-j, while a change in the component movement is executed, characterised in that if the Z-axis offset is less than a preset parameter the moment when an opening edge is detected occurs as appearance of a value of the force resultant from Fx and Fy forces above a preset maximum horizontal force, wherein at the moment when an opening edge is detected the component is moved away in step j according to the direction of the force resultant from Fx and Fy forces to bring the value of the force resultant from Fx and Fy forces to a value below a preset minimum horizontal force value. a. grabbing a component, b. transporting the component to a predetermined starting position, c. taring the force and/or moment sensor, d. transporting the component in the Z-axis, defined as a height over the surface of the board, in the direction of the board, until the component contacts the board surface, e. actuating a regulator with determined parameters, f. transmitting from the regulator, when output data are stabilized, of a signal to means for gripping and transporting of the industrial robot as Z-axis offset, if the Z-axis offset is greater than or equal to a preset parameter g. releasing the component from the means for gripping and transporting of the industrial robot and establishing the current position of the component as a starting point, if the Z-axis offset is less than a preset parameter h. moving the component along a predetermined path, beginning from the current position point, i. arresting the movement of the component, when the force sensor and/or the moment sensor detect an opening edge in the board, j. moving the component away from the opening edge based on data from the force and/or moment sensor, k. repeating steps g.-j, while a change in the component movement is executed, characterised in that if the Z-axis offset is less than a preset parameter the moment when an opening edge is detected occurs as appearance of a value of the force resultant from Fx and Fy forces above a preset maximum horizontal force, wherein at the moment when an opening edge is detected the component is moved away in step j according to the direction of the force resultant from Fx and Fy forces to bring the value of the force resultant from Fx and Fy forces to a value below a preset minimum horizontal force value. the moment when an opening edge is detected occurs as appearance of a value of the force resultant from Fx and Fy forces above a preset maximum horizontal force, wherein at the moment when an opening edge is detected the component is moved away in step j according to the direction of the force resultant from Fx and Fy forces to bring the value of the force resultant from Fx and Fy forces to a value below a preset minimum horizontal force value.