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Roland
Posts: 13 Apprentice
Running time error during Force control on UR10 |
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Answered | |
/ Most recent by bcastets
in Applications
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5 comments |
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:
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>
print(x)<br>
except:<br>
print("An exception occurred")
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.