Using force inside of a Pattern

a_machinist 2018-08-21

I'm trying to apply force to a part before closing my grippers. I can do this successfully on individual picks but I'm having trouble making it work inside of a pattern. The first part always works correctly but on every subsequent part it wants to move towards the pick point of the first part. On a side note, the program works great if I disable the force command.

I'm new to this so any help would be appreciated.

Thanks in advance.

Nicholas_Francoeur 2018-08-21

Hi @a_machinist,

Could you share some more information about your application? What robot are you using?

Could you share your current program? What kind of pattern are you using?

a_machinist 2018-08-21

@Nicholas_Francoeur

Yes, sorry. It's a UR10e and I'm using a square pattern.

I've attached the program.

Nicholas_Francoeur 2018-08-22

Hi @a_machinist,

Use a thread to monitor the force sensed by the FT sensor using the get_tcp_force() function and then use the Fz value obtained instead of the Force mode you're currently using.

See below and attached:

ForceXYZ≔get_tcp_force()

sync()

Make sure to use the zero_ftsensor() right before you need to read the Fz value from the sensor.

The movel used should be relative.