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RolandRoland Posts: 13 Apprentice
edited February 1 in Applications
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:<br>&nbsp;&nbsp;print(x)<br>except:<br>&nbsp;&nbsp;print("An exception occurred")

Comments

  • bcastetsbcastets Vacuum Beta tester Posts: 639 Expert
    Are you using Robotiq Copilot URCAP for the force control or UR force control functions ?
  • RolandRoland Posts: 13 Apprentice
    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.
  • bcastetsbcastets Vacuum Beta tester Posts: 639 Expert
    What is this URCAP ? Is it a custom made URCAP ?
  • RolandRoland Posts: 13 Apprentice
    bcastets said:
    What is this URCAP ? Is it a custom made URCAP ?
    It's something like this.


  • bcastetsbcastets Vacuum Beta tester Posts: 639 Expert
    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.
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