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aluualuu Posts: 2 Recruit
Hello,

I am using the teach pendent on a UR10 trying to implement a multipoint path with the force control node on a UR10, however am not having much success. I am able generate a multipoint path however it does not use the force control that I've set. 

I am using the FT300 and have the Force Copilot URCap (UCS-1.8.0 for PolyScope 5.1.2+).

Any help on this would be greatly appreciated. Thanks! 

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  • David_GariepyDavid_Gariepy Posts: 158Beta Tester Beetle, Wrist Camera URCap 1.3.0 Handy
    Hi @aluu

    Could you please share a picture of your force control setup? 

    Did you try to use a lower stiffness to see if it changes the behavior?

    David Gariépy
    Integration Coach
  • aluualuu Posts: 2 Recruit
    Hi @aluu

    Could you please share a picture of your force control setup? 

    Did you try to use a lower stiffness to see if it changes the behavior?

    Hi @David_Gariepy

    I have attached a screenshot of the setup. 

    I have tried it with 50 and 0% stiffness, but it hasn't changed the behaviour. The force control is under a find surface node which is set to a force threshold of 1.5N as well in the Z+ direction and this works fine. 

    I am also wondering, when I define the multipoint path, should the waypoints already be on the surface? 
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