Universal Robots Forum

Insertion with Force command and a spiral


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

I used the spiral script provided here:


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?