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jkimmel

Hi @Annick_Mottard

Here is a sample log showing the behavior described above.  From this it is clear that the "Zero Sensor" button is still doing something I don't have access to.  


We are an OEM customer - if we can get the FT300 to work we will be including it with our product, meaning we will help you sell dozens to hundreds of FT sensors over the next few years.  However for us to ship this product with this sensor we need to be able to make it behave! Both the standard deviations and the means are substantially closer to zero after we hit the "Zero Sensor" Button, but we are not able to produce that result by sending rq_set_zero. 


====
collect data for 5 seconds
====

000:01:45.954 :  mean force in 0 dimension: -4.284168 ;  std.dev: 1.381715
000:01:45.954 :  mean force in 1 dimension: 3.387685 ;  std.dev: 2.745489
000:01:45.954 :  mean force in 2 dimension: -5.012393 ;  std.dev: 1.871867
000:01:45.954 :  mean torque in 3 dimension: -0.858545 ;  std.dev: 0.010466
000:01:45.954 :  mean torque in 4 dimension: -0.194845 ;  std.dev: 0.007020
000:01:45.954 :  mean torque in 5 dimension: -0.120874 ;  std.dev: 0.005809
000:01:45.954 :

=============
 send rq_set_zero;  collect data for 5 seconds 
==================

000:01:50.954 :  mean force in 0 dimension: -4.412461 ;  std.dev: 1.237861
000:01:50.954 :  mean force in 1 dimension: 3.614715 ;  std.dev: 2.585051
000:01:50.954 :  mean force in 2 dimension: -3.742489 ;  std.dev: 2.147263
000:01:50.954 :  mean torque in 3 dimension: -0.867762 ;  std.dev: 0.023664
000:01:50.954 :  mean torque in 4 dimension: -0.188405 ;  std.dev: 0.014364
000:01:50.954 :  mean torque in 5 dimension: -0.120133 ;  std.dev: 0.010451
000:01:50.954 :

=============
 send rq_set_zero; collect data for 5 seconds
==================

000:01:55.954 :  mean force in 0 dimension: -4.960074 ;  std.dev: 1.969650
000:01:55.954 :  mean force in 1 dimension: 1.735947 ;  std.dev: 3.182038
000:01:55.954 :  mean force in 2 dimension: -3.560291 ;  std.dev: 2.301502
000:01:55.954 :  mean torque in 3 dimension: -0.876225 ;  std.dev: 0.017010
000:01:55.954 :  mean torque in 4 dimension: -0.196555 ;  std.dev: 0.010236
000:01:55.954 :  mean torque in 5 dimension: -0.123971 ;  std.dev: 0.009918
000:01:55.954 :

=============
 Start ActiveDrive via URCAP plugin;
 Tap "Zero Sensor" Button
 
 (also send rq_set_zero) 
collect data for 5 seconds
==================

000:02:00.954 :  mean force in 0 dimension: -0.746051 ;  std.dev: 0.346670
000:02:00.954 :  mean force in 1 dimension: -0.568846 ;  std.dev: 0.749325
000:02:00.954 :  mean force in 2 dimension: 0.401761 ;  std.dev: 0.679969
000:02:00.954 :  mean torque in 3 dimension: -0.875134 ;  std.dev: 0.013150
000:02:00.954 :  mean torque in 4 dimension: -0.191830 ;  std.dev: 0.006998
000:02:00.954 :  mean torque in 5 dimension: -0.119637 ;  std.dev: 0.006380





please observe that in the last block the deviations are roughly 1/4 of their previous values!   This "quiet" stable behavior typically persists for several hours,  until the means start to drift and the deviation increases,  at which point the only thing that reliably works is using the ActiveDrive plugin "zero sensor" button.

thanks for your help!