I am trying to setup a Linear Force Command, until contact in my program to seat a part up against a stop. I have my command setup just like this, using the Base as the feature and 10.0N for force.
Regardless of which direction I tell the robot to move, it seems that the robot only wants to move in Z+ direction or Z- direction force value is positive or negative.
I have tried to set it up so that I tell it to move in the Z direction and stop after 2 inches, but I can’t get it to do that either. It just keeps moving.
I have RobotIQ grippers and CoPilot. Lastest released of the URCaps (3.29 and 3.27) and Polyscope 5.21.3
Any help is greatly appreciated.
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I think if you switch from Simple to “Frame” in the dropdown you can select which axis of the feature you want the force applied in.
That said, I often find it easier to just work with a normal Direction Until node, and use force() as the condition:
Just be sure to include a script command of “zero_ftsensor()” with a short wait after to ensure the sensor reads 0 prior to performing the move.
Thank you for the information. That seems to work better for sure.
Sounds like you’ve set things up correctly, but it’s odd that the robot only moves along the Z-axis. I’ve had similar issues when the feature frame or direction vector wasn’t set properly — maybe double-check that the force direction is actually aligned with Base X and not still pointing in Z?
Also, make sure you’re not mixing up Force Mode and MoveL — they behave very differently. The “Until contact” condition might also need fine-tuning in CoPilot settings.
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