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Force Touch-Off Giving False positives
/ Most recent by wileydavis
I'm probing a pallet of stock to find the top piece using the force() function. It works really well but occasionally gives false positives where it thinks it's hit something when it hasn't. If I use the force() < 60 then it only happens once every 100 parts or so. But I've found that it becomes more unreliable as the force limit goes down, where at 30N it always triggers right away. I have the payload set using the weight and cg given by robotiq (900g). Here's the code I'm using:
At 30N it happens at the beginning of the move. But at 60N, on the occasions it messes up, it happens at the bottom of the pocket. Is it possible that the stop at the pocket_bottom waypoint causes the loop to exit before setting pocket_empty to true? Maybe slow it down? I'm probing at .025m/sec.
Tray Probe Probe Variables Wait is_steady()≟ True pocket_bottom≔pose_trans(Tool,p[0,0,.127,0,0,0]) pocket_top≔get_actual_tcp_pose() If force()<60 MoveL pocket_bottom pocket_empty≔ True empty_pockets≔empty_pockets+1 pocket_top If empty_pockets≟10 PatternPoint_1 Gripper Open power_down()