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jianlan_
Posts: 10 Apprentice
FT300 path recording |
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Answered | |
/ Most recent by Martin_B |
17 comments |

Hi everyone,
I started using FT300 with ActiveDrive URCaps several weeks ago. There two issues quite often.
I am using FT/300 + two finger 85mm gripper + UR5.
1. even when the gripper is not holding anything or in contact with objects, ActiveDrive throws out erros "excessive force is applied to the tool"
2. in the path recording mode, the robot fights against me when I try to move it, often resulting in singularity that quits force mode. Also, even I apply every little force, the robot tries to move to some singularity points.
I wonder any of you encountered this, am I expected to do additional setups before using path recording? Thank you so much!
I started using FT300 with ActiveDrive URCaps several weeks ago. There two issues quite often.
I am using FT/300 + two finger 85mm gripper + UR5.
1. even when the gripper is not holding anything or in contact with objects, ActiveDrive throws out erros "excessive force is applied to the tool"
2. in the path recording mode, the robot fights against me when I try to move it, often resulting in singularity that quits force mode. Also, even I apply every little force, the robot tries to move to some singularity points.
I wonder any of you encountered this, am I expected to do additional setups before using path recording? Thank you so much!
Best Answers
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David_Levasseur Beta Tester Beetle Posts: 182 Handy
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David_Levasseur Beta Tester Beetle Posts: 182 Handy
Thanks to the video @jianlan_ sent, we noticed the sensor was not properly aligned. For the sensor to work as expected, it absolutely needs to be mounted it in the exact same orientation as the example on the picture below. If the provided dowel pin is installed, there is no other possible orientation. Then, it is required to set the COG, TCP and payload. Once this is done, the sensor needs to be calibrated.
I have double checked that the dowel pin is fitted (as described previously), I have also re calibrated many times.
I have also double checked we're using the latest version of the software etc.
This still hasn't helped me. Sometimes the robot will drift, sometimes it will fight against me, it seems to be very inconsistent.
Is there a setting somewhere that I'm possibly missing?
Any help would be appreciated.
Martin Brinkley
Application Engineer
BRAAS Company
Here's a Dropbox link to all the information you requested: https://www.dropbox.com/sh/71u262psmzd2jz9/AABYyQRWs4jNddqqco7A4lCja?dl=0
I also have another question about ActiveDrive - is it possible to 'fix' the Z height whilst recording a path?
I would like to ideally limit motion to X and Y and have the Z at a set value, just wondering if the FT300 has this option.
Martin Brinkley
Application Engineer
BRAAS Company
I looked at your video and the drift that you experience is normal. When in ActiveDrive mode, if you stop applying a force, we don't want the robot to go in a sudden stop. We programmed the ActiveDrive so it would decelerate slowly to avoid any faults.
In order to fix the height in Z, you can use ActiveDrive's plane mode:
It will force the robot to move on a plane (x-y).
Product Expert
Robotiq
[email protected]
What you can't see in that video (and I'm not sure how to show it), is that whenever I'm trying to pull the robot in a particular direction, it is fighting me, sometimes quite severely. To the point where it will actually pull in the opposite direction to the one I'm trying to get to.
We simply wanted to trace out a basic square, but can never get the robot to follow the path because it fights to go in another direction.
Regarding my other question; I have selected the Plane function but I am still able to move the robot in the Z axis, which is an even bigger concern at this point in time. I have a customer demo on Monday morning and I need to get this resolved before then if it is possible. Are there any other settings that can affect the locking of the Z axis?
Martin Brinkley
Application Engineer
BRAAS Company
Martin Brinkley
Application Engineer
BRAAS Company
Note, we performed a brand new calibration immediately before shooting the video.
https://www.dropbox.com/s/vuq854auwr3yfiv/Robotiq_FT300_Issue.MOV?dl=0
Martin Brinkley
Application Engineer
BRAAS Company
We are unable to successfully validate the calibration for some reason. We get an error message that reads "Could not retrieve or parse calibration results."
We have turned the system off and on several times to reset everything and have tried to calibrate dozens of times with the same result. Any idea what we're missing?
Martin Brinkley
Application Engineer
BRAAS Company
If we run the calib_tool.urp program then everything should work fine?
If that is the case, we would like to keep the unit and wait until you release a new URCap.
If, however, you think it would be better to just send the sensor back anyway, then we can do that too.
We will comply with whatever you advise is the best course of action.
Martin Brinkley
Application Engineer
BRAAS Company
Martin Brinkley
Application Engineer
BRAAS Company