Insertion with Force command and a spiral

[pgy]

Hi,

I make some experiments with the Force command to insert a plug into a socket.

I used the spiral script provided here:

How to make a spiral motion on a surface of 5cm * 3cm using universal robot?

It’s more or less working but I’m not so sure of the way to stop the spiral movement. Here is my code:

If the first MoveL didn’t reach the target position, I use Force with the spiral movement. For the If Fz the Checked expression continuously is ticked. In the Else I tried to check again Fz to stop when completely inserted (with Wait Fz > ) but it didn’t wait at all…

Is there a more “clean” way of doing this?

Also, sometimes during the spiral movement I get this error:

Any idea what’s happening?

Thanks

Pierre

[RobotProgramer94]

I was playing with the spiral code and was getting the same error. If you remove the blend radius (r=.00001). This fixes the issue but the movement is not as smooth.