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RyanMC92RyanMC92 Posts: 2 Recruit
Our application is using a FT300 force sensor to detect the amount of force it takes close a lid and lock it. The height varies + or - a couple mm so that values we are getting are sometimes too high or too low. We are wanting to see what the force is when the lid locks in place or see if the lid is locked when we reach a certain force. How can I monitor my force while moving to a waypoint and then stop mid move if a force value is excided/reached, record that force, and then move to home? 

Best Answer

  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,261 Handy
    Answer ✓
    You can monitor the force in a background thread if needed, the sensor should be streaming forces to Fx,Fy,Fz,Tx,Ty,Tz

    In your program put the position in an if statement and then select the check box to check the expression continuously. Something like this pseudo code

    if Fz < 10:
      var forceAtClose=Fz
      var forceAtClose=Fz
    By checking the check box on the it statement while moving to the waypoint the system will monitor the condition and if the force exceeds 10N (example only) then it will exit the if portion and enter the else. The stopj command will bring the robot motion to a stop. We are then recording the force level that was either present when the robot moved fully to the position or the force that exceeded 10N. 


  • RyanMC92RyanMC92 Posts: 2 Recruit
    Hey Mathew, I am still having issues with getting this to function correctly. The robot is not aborting the move when the force exceeds the limit. I've tried using If Fz<() and Fy<() as well as the variables Force_Z and Force_Y.  

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