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Glass420Glass420 Posts: 7Wrist Camera URCap 1.3.0 Apprentice
I would appreciate advice on how to solve the following issue.
I have a part that I am inserting into a 5C collet that has a spring loaded button that the part is pressed against. When the collet is closed pneumatically, it moves approximately 5 to 6 mm away from the robot gripper in the tool Z direction. What I need is a way to apply a force and move the robot while the collet closes. I have a FT 300 that I use to check if the part is aligned with the collet by measuring the insertion force as it is inserted. But, if I use the same method, as the collet closes I am not able to achieve consistent insert position.

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  • Glass420Glass420 Posts: 7Wrist Camera URCap 1.3.0 Apprentice
    Hi David
    I used the force wizard with the wait statement but the robot did not follow the collot closing.
    Should I put a movel with a end point inside the force command then a wait?
    The force is very generic but high (around 50 N) all that matters is the position is correct every time.
    Also, with the force wizard, does the robot constantly adjust its position during the wait or does it stop when the froce is reached and maintain that current position?
  • Glass420Glass420 Posts: 7Wrist Camera URCap 1.3.0 Apprentice
    No need to reply to the above comment. I found my error. I had the wait command outside the force command.  I moved it inside and all is working.
    Thanks for the help!
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