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sebastianreasebastianrea Posts: 9 Apprentice
Hi Community

I've made a palletize program on my UR-10 - CB 3, where i am palletizing from a stack of metal pieces on to a fixed point.

When im palletizing from the stacked table i would like to use the force command in a downwards direction (-Z). 
However the table is stacked in multiple layers, and i would like to only palletize one layer at a time.

When i try to use the force command is just goes down until it meets any force, witch is understandable. 

Is there anyway to use the force command so it only travels 40mm but if it meets any force at like 20 or 30mm it stops, grabs the object and goes up.

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  • bcastetsbcastets Vacuum Beta tester Posts: 365 Handy
    Is there anyway to use the force command so it only travels 40mm but if it meets any force at like 20 or 30mm it stops, grabs the object and goes up.
    It is possible to do such thing.
    Here below is a screenshot of the find surface node of Robotiq Copilote URCAP.


    As you can see it is possible to set the "maximum distance traveled".

    Maybe the following post would help you ?
    https://www.youtube.com/watch?v=E-z3n7xD50Q

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