My UR10 Drifts from position when I am using a FT300 Force Sensor

jspurlin

Hello All,

We are carrying out a pick and place application of some split dowels on our assembly line and are using an FT 300 Force Sensor during this operation. We pick the dowel then place to the job. The hole postion can vary very slightly due to the tollerances in the system but by less that 0.2mm as can the tolerance of the dowel. We use a Foce move to detect the miss fitting. Unfortunatley it seems after a miss fit situation the foce applied pushes the tooling and moves the position we are aiming for. If we restart the system it wil continue to go to this incorrect position instead of re-referncing. It seems as though the Force sensor adds some compliance to the fitting which add and increasing error to the fitting position each time we attempt to fit. Would there be a way to turn this compliance off as in this particular application we dont want it if there is missalignment we want the joints ro remain stiff and not react to the force measure. I have seen in the manuals some options for a stiffness setting but cant see this setting on out Robot Pendant anywhere. Has anyone else encountered problems like this?

Nicholas_Francoeur

Hello @jspurlin, can you share you installation file and program? This would help us to troubleshoot the issue you are experiencing.

jspurlin

Hello Nicholas,

Files attached we could update our force sensor to the latest level but they way we are currently using it we are basically measuring the force and using the number to switch a variable to action a different part of the program. But when doing this we see this compliance in the joint causing the set position to drift.

Nicholas_Francoeur

Hello @jspurlin, I had a look at the txt file to see how the FT 300 is used. If you need a precise location, I would recommend using a very low force. How did you chose the -50N force you're looking for in the Thread_5?