How to perform a move with a force limit?My UR10 removes coils from a bobbin. Friction between coil and bobbin is an issue so simply using MoveL with any speed/acceleration parameter results in a protective stop.I currently run this: (pseudocode)Loop 10 times:- 5mm relative move on tool X-axis- Wait force()<100The above performs reasonably well, but as it comes to a stop nine times, the robot must also overcome the resting friction of the coil each time, so it takes ages. Since sliding friction is always less (yay physics), it would be better to get run the movement in one go.I tried using the Force function in the Polyscope, but it doesn't really do what I want it to do, which is to move along tool axis with a limited force. If I set it to 100N on X-axis and give a relative 50mm movement command, the robot never reaches the end point of the movement but instead tries for a random amount of time and then skips to the next step in the program which causes it to try to move through the winding machine's frame. Why doesn't the robot finish the movement?