Force_mode() with changing desired force

Technical Questions URScript
1

Hi!

I am using UR5 + FT300 + CB3.1, which enabled external sensor feed to force_mode(). I am streaming UR Scripts using ROS driver ur_modern_driver, basically it opens a socket at UR controller, and simply forward UR Scripts to UR5.

I am forwarding the script “force_mode( p[0.0,0.0,0.0,0.0,0.0,0.0], [1.0,1.0,1.0,1.0,1.0,1.0], [0.0, 0.0, 50.0, 0.0, 0.0, 0.0], 2, [1005.0, 1005.0, 1000.0, 1005.0, 1005.0, 1005.0])” to UR5, which means 50N in Z axis, the robot does not do anything.

I understand there is another similar question Real time force_mode, that I should forward an entire program rather than just a line.

My question is :

  1. how can I change the desired force on the fly, say at 1s I want Fz = 50N , at 1.25s I want Fz=-25N etc… can I do this with the program that mentioned in the link above?
  2. what would be the frequency to stream this force command.

Thanks so much!

2

Maybe the article on Dynamic Force control can give an idea, but calling the force_mode() command from a Thread may be a good option.