F/T Move stop and continue program after

timuvlad

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?

David_Gariepy

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