UR scrip code used in FT300

Ameyakarnik

Hi,
Can anyone explain me these script codes
(get_applied tcp wrench(2)>25).
I saw this code in (New FT 300 feature).

I also want to program in similar way for my application.

Thanks in Advance

David_Gariepy

@Ameyakarnik
It refers to the force applied to the TCP in the specific axis

In the provided example, the program wait for a 25N force in Z  

wait&nbsp;get_applied&nbsp;<em>tcp</em>&nbsp;wrench(2)>25

Then wait for my to be below 0.1n 

<div><span>wait&nbsp;get_applied&nbsp;</span><em>tcp</em>&nbsp;wrench(4)>0.1</div><div></div>

The number between the parenthesis representing the corresponding axis

0-1-2-3-4-5 representing

x-y-z-mx-my-mz

David_Gariepy

Hi @Ameyakarnik

I'm sorry, I wasn't aware of it but it's the same function that has been renamed. 
The correct one is 

get_applied_tcp_force()

Ameyakarnik

thanks that helped me .

when I enter the code  " get _applied_tcp_wrench(4)>25"  and then as I run the Program there is an error telling it is not defined. What is the reason for that?

anoher question how is this code different from " get_tcp_force() " ?

Thanks in Advance

matthewd92

What version of poly scope are you running?  That is a rather new feature. 

Ameyakarnik

Its version is 3.7.2

Ameyakarnik

I also want to know the difference between get_applied_tcp_force()  and get_applied_tcp_wrench() . As i couldnt  find those in UR Script Progamming language

Ameyakarnik

Hallo,

I tried the (reorientation demo with FT300). When the robot moves in the z-axis waiting for the 25 N to be detected and as soon as it detects it does not orient perpendicular. What should i do so that it can orient perpendicular to the surface.

 

David_Gariepy

Hello @Ameyakarnik
What are you trying to align exactly?
You'll need a contact large enough to be able to align it on a surface.
If you try for example to align a part with just a few square inches of contact, it won't be possible. 
The larger the object, the more moment will be applied so it will be easier to align it flat on the surface. 

Ameyakarnik

I have drawn roughly the front view and side view of thr instrument to be alligned. Its moving down in the slant position (Not perpendicular to the surface). When it detects 25 N on one tooth of clamp. Instead of alligning perpendicular to the surface it retreats back.

David_Gariepy

Could you please post a picture of your program and the setting in the force control node?

Ameyakarnik

Here are the photos. 

David_Gariepy

To avoid bounce back, you can try to untick the adaptive stiffness and set your own. 
The higher the stiffness, the slower the compensation. I would start with 80% stiffness for the z axis.
But it is very likely that the point of contact aren't large enough. 
What is the size of your tool? or could you please post a picture of your setup? 

Best regards

matthewd92

Are you trying to rotate the tool while pressing down?  If so, have you tried making the appropriate rotation axis compliant as well?  Otherwise it won’t rotate