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Roland
Posts: 13 Apprentice
Running time error during Force control on UR10 |
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Roland
Posts: 13 Apprentice
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 guess it is because of the robot's pose changing in one step is greater than the limit I set.
Is this right?
And also 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.
So could I use the Try-Catch function to catch the error? If it is possible, could someone offer an example?
Thanks!
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 guess it is because of the robot's pose changing in one step is greater than the limit I set.
Is this right?
And also 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.
So could I use the Try-Catch function to catch the error? If it is possible, could someone offer an example?
Thanks!