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timuvladtimuvlad Posts: 6Unconfirmed Apprentice
I am currently trying to use a force torque sensor to perform a drilling application and I am facing the following problem. I have used the force control option to maintain a constant force along the drilling path and then I used the F/T move and F/T waypoint in order to move the robot through the material ( I have calculated the positions before this node by getting the actual tcp position and setting another variable with coordinates changed on the z axis for downard movement followed by the 'transpose' func. to move the robot from starting pos to end pos of the drilling path). F/T waypoints are implemente based on these  variables that contain the position before getting into the material and the end position using the 'transpose' func. I have set the threshold value for the force on z axis in the F/T Move but the problem is that whole program stops when that force is reached along selected axis. I can't seem to make the robot follow the next lines of code after the F/T Move force threshold is reached. Does anyone have an idea that could make this work?

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  • David_GariepyDavid_Gariepy Posts: 175Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    Hi @timuvlad

    If I understand you want to apply a constant force while drilling until you reach a specific position right? 
    Attached is a program example, here what it looks like
    Program
       Robot Program
         MoveJ
           Waypoint_1
           Force Control
             Wait current_pos[2]<0.1
           Popup
       Thread_1
         current_pos≔get_actual_tcp_pose()
         sync()
    
    In this example, the force control node is used to apply pressure until the wait condition is met. In this case, I'm waiting until the z position reaches 100 from the robot base.
    The thread is used to get the actual position of the robot

    Hope that help



    David Gariépy
    Integration Coach
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