bcastets
As you said UR moves like moveJ are not compatible with Robotiq force control node.
Under a force control node you can use:
- Path recording (as you mentionned)
- Multipoint path (equivalent of MoveJ and MoveL)
- Path generator (use to generate a path on surface)
https://elearning.robotiq.com/course/view.php?id=7§ion=6
At the moment it is not possible to set the coordinates of points under a force control via a PC or script.
jsumarac
Hello, I have a UR5 robot with a CB3 controller and a FT300 Robotiq sensor. I want to program the robot to follow a certain path in Force mode and I learned in the manual that it can be done with Robotiq Path option in URCaps. It also says that Force mode is not compatible with MoveJ commands. Also, if I understood right, the only way to program a Robotiq Path is to manually move the robot and record that path? What I want to do is send joint space coordinates via a PC and use MoveJ to move robot along that desired trajectory while also controlling the tool forces in Force mode. Is there any way this can be done?