# Force Polishing

**URL:** <https://forum.universal-robots.com/t/force-polishing/20122>\
**Category:** Technical Questions\
**Tags:** welding\
**Created:** [March 24, 2022, 8:57pm UTC](https://forum.universal-robots.com/t/force-polishing/20122 "2022-03-24T20:57:11Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![anon65881107](https://avatars.discourse-cdn.com/v4/letter/a/e79b87/32.png) [@anon65881107](https://forum.universal-robots.com/u/anon65881107)\
**Post date:** [March 24, 2022, 8:57pm UTC](https://forum.universal-robots.com/t/force-polishing/20122/1 "2022-03-24T20:57:11Z")

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We are trying to polish 300mm long weld bead strips on a horizontal plane using a UR10e cobot in the force mode, however, it keeps faulting out when getting to the specified waypoints. This is because it can vary the position in z in order to maintain the specified force, but when it gets to the desired waypoint and leaves force mode, we believe it gets confused and faults out since it is not at the correct z location. Does anyone know a way around this issue?

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**Author:** ![anon507564](https://avatars.discourse-cdn.com/v4/letter/a/e480ec/32.png) [@anon507564](https://forum.universal-robots.com/u/anon507564)\
**Post date:** [March 24, 2022, 9:22pm UTC](https://forum.universal-robots.com/t/force-polishing/20122/2 "2022-03-24T21:22:10Z")

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Is this a new issue with an old process or a new process all together?

Maybe try before you leave force mode making a clearance move away from the part?

May need to post some code samples or give more info on what you’re doing.

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**Author:** ![anon65881107](https://avatars.discourse-cdn.com/v4/letter/a/e79b87/32.png) [@anon65881107](https://forum.universal-robots.com/u/anon65881107)\
**Post date:** [March 24, 2022, 10:45pm UTC](https://forum.universal-robots.com/t/force-polishing/20122/3 "2022-03-24T22:45:15Z")

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It is a new process altogether. The problem with staying in force mode when going to a clearance pos. is that trying to lift it off doesnt work since it can no longer maintain the applied force so it still faults.

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**Author:** ![MikeM](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mikem/32/3114_2.png) [@MikeM](https://forum.universal-robots.com/u/MikeM)\
**Post date:** [March 25, 2022, 12:57am UTC](https://forum.universal-robots.com/t/force-polishing/20122/4 "2022-03-25T00:57:11Z")

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You may want to check your limits in forcemode, if you are using Polyscope you can set these compliant axes/limits in the program NODE as well

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/f/f7f7471469baac0bf77356655d1ef0c06b76ed19.jpeg)

Not sure if you’ve already tried this but hope this helps, and best of luck!

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**Author:** ![anon65881107](https://avatars.discourse-cdn.com/v4/letter/a/e79b87/32.png) [@anon65881107](https://forum.universal-robots.com/u/anon65881107)\
**Post date:** [March 25, 2022, 1:59am UTC](https://forum.universal-robots.com/t/force-polishing/20122/5 "2022-03-25T01:59:07Z")

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I will try that thank you! Do you know what the setting would look like on the actual pallett?