Here is a quick example that we put together for the IMTS show this year using deburring tools from Biax out of Germany.  We are using a 2F-85 and FT150 for the operations.  We are showing examples of moving the tools to the parts and moving the parts to the tools.  Let me know if you have any questions.  

As a bonus, you can see the cable management system we have been developing.  Have really good range of motion now and no worries about pulling on the cables anymore.

https://youtu.be/nKS4xSFEFxk

Thanks for sharing Matt! How did the Biax tool interface with the UR controller?

They are pneumatic so we just turn air valves on and off.  They do make tools that can handle deflection of the tool and apply a constant side force. To do that you vary the compensation pressure between 2-6 bar and that will give the tool a force between 5N and 30N. Similar to using the force wizard but could give finer resolution. Also, if you used an electronic pressure regulator on the deflection line you could vary the amount of deflection force via the robot. So different parts or even different sections of a part you could apply different amounts of force

Another example we programmed yesterday of using the oscillating file to do edge de-burring on the part following the contour of the part. 

https://youtu.be/qffrKwRPeeM