Running time error during Force control on UR10

Roland 2022-02-01

Hi,

When I'm running the force control on UR10, it's a continuous multiple-times force control. But there often comes out an error on the URcap : Force mode: maximum orientation/position deviation exceeded.
I figure out it is because of the robot's pose changing in one step is greater than the limit I set.
But when such an error happened, the rtde_control will be automatic stopped and the subsequent force control commands will no longer take effect.
So I want to know whether there is a solution to not letting this error interrupt the whole control process?
I'm programming in python and controlling the robot by RTDE package.
Such as the code:

try:

  print(x)

except:

print("An exception occurred")

bcastets 2022-02-02

Are you using Robotiq Copilot URCAP for the force control or UR force control functions ?

Roland 2022-02-02

bcastets said:

Are you using Robotiq Copilot URCAP for the force control or UR force control functions ?

I'm using the UR force control functions, but the error occurred on the URCAP with a pop-up window.

bcastets 2022-02-02

What is this URCAP ? Is it a custom made URCAP ?

Roland 2022-02-03

bcastets said:

What is this URCAP ? Is it a custom made URCAP ?

It's something like this.
zoom

bcastets 2022-02-03

This is an error from the prepackaged force function included in Polyscope. It does not look related to a UPCAP.
I am sorry that I don t have enough experience with UR force functions to explain the cause of this error.
Maybe some one else from the community will be able to help.