Problem with FT300

jsumarac

Hi, I am working on a UR5 robot with Robotiq FT300 sensor and Wrist Camera. My goal is for the robot to follow a certain path and also to control the forces on its tool. I made a simple program with a Multipoint Path inside a Robotiq Force Control function. I want to control the z-axis component of the force, so I set it at 3N, with adaptive stiffness and +-10mm deviation range. I did not control other components of the force. The program is then executed and I noticed, that while the robot accurately follows the path, I get completely unexpected results for force. I used your StreamToCSV software to collect data from the sensor and the Fz force is not even close to 3N, it has very different values (minimum and maximum being around -10 and 10N respectively) and it's as if the program doesn't even register the Force Control function. So I looked at the Variables tab while the program was running and I saw a rq_ft_sensor_connected variable and it was False during the whole execution of the program. So I then tried to find the template_sensor.urp file but it is not there, and neither is the Sensor folder. Now I do have the Active Drive bar installed, and have used it, and the light on the sensor is constantly blue, but I'm at a loss for what to do now. Is the sensor connected correctly or not? Is there any way I could get the template_sensor.urp program? Or should I install the software all over again?

bcastets

It is possible that the force control is working normally. Force deviation is possible and can increase with speed and complex surface.

For complex surface the force control deviation can be reduced using the check "Target position". In this mode the robot first move on the teach trajectory and then adjust its position depending on the force.
By default "current position" is checked. In this mode the teach position in the direction of the force control is ignored. This mode is suitable if the shape of the part you are processing is unknown.



You can use adaptive stiffness. This mode automatically adapt the reactivity of the robot when force deviation occur. You can try to remove this mode and adjust the stiffness (You can consider that as reactivity) by yourself. 
You can find details about force control parameters in FT300 manuel in section "4.9.2.Features":
https://assets.robotiq.com/website-assets/support_documents/document/Copilot_Instruction_20Manual_20200415.pdf

I wonder about your check of rq_ft_sensor_connected. If the LED of the FT300 is blue it is connected. I suppose that there is no problem.
If you still think there is something wrong, you can send the details to [email protected] with detail of your test. We will advise.