MoveJ with Robotiq Path

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?

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)

I recommend that you have a look to our elearning videos to learn more about the programming procedure.
https://elearning.robotiq.com/course/view.php?id=7&section=6

At the moment it is not possible to set the coordinates of points under a force control via a PC or script. 

jsumarac

Thanks for answering, I will check out the elearning videos.