I use the force copilot with a trajectory record. I add a collision monitoring with 10N limit. I chose the option: security stop to resume the program upon acceptance of the message.
But I ask myself a question: Is it possible to close a pop up with a notion of time of appearance?
I saw that a subject had already been treated on the subject but for this case it is a little different. The pop-up appears once the force limit is reached, so it's not a pop up present in the programming sequence, it's an unpredictable event that wants to be unpredictable.
The idea would be to make a force control thread with an override evaluation condition with the socket function: pop up close.
But this function should be applied only during the trajectory, because after I have an insertion phase, which means that the trajectory is a small part of my program.
Can we start a thread at the beginning of the function trajectory and close when the function stops?
More simply, close a thread at one level of the program and not until the end?
Finally, can the trajectory function be included in a force control thread with pop-up closure, subject to a time-out?
If you have any other suggestions?
Thank you very much in advance for your help