Hello,
I am currently trying to program an application with an OnRobot FT sensor and an OnRobot Sander.
I want to run a force-controlled path with the sander on which I grind a workpiece. At first I did the problem manually with the URCaps program from OnRobot and that works great.
However, in the next step, I wanted to create and run the path automatically. Here I reached my limits with the OnRobot URCaps program, because the trajectory is created internally in the compute box and I have no possibility to change the number of points and position.
For this reason, I decided to work with force_mode and transfer the data from the OnRobot FT sensor using RTDE so that I can use the external sensor data.
So I wrote a Python program in which I read the registered data of the OnRobot FT sensor (register_double_(30-35)) on the UR controller, save it in a list and then send it to the external_force_torque variable.
In the URScript I have initialized a rtde watchdog and also activated the ft_rtde_input_enable.
Now I have started the rtde python program and then the UR program. I now get the C207A0 error and I don’t know why.
Does anyone already have a similar problem? Thank you very much for your help
Max