Hello everyone, I’m currently working on writing a simply program in PolyScope 5 for some testing purpose.
There is a Loop in the program, in which contains Force Control which has a Multipoint Path. Everytime I run the program, the Loop will run successfully for some times, then suddenly gets stuck on the Multipoint Path step. I know it’s this specific step because the word is in blue indicating that’s the current step, but the cobot stops moving and it shows the program is still running. It can happen after 2 loops or 50 loops, but the first loop always work.
I’ve been trying to find solutions but no luck, does anyone have any ideas why this is happening? Thank you!
What instruction in particular does it get stuck on? I have found that occasionally the Force node behaves unpredictably. I’ve also found I generally have more success using the force() script command and just using that as a condition for normal move commands.
You may need to insert a zero_ftsensor() command before using the Force node, though I thought that command was included as part of the template.
It’s just unable to start the Multipoint path when it get stuck, after the Force Control has engaged.
And you are correct, the Force Control has an option for you to zero sensor in PolyScope, which I have enabled. Maybe I just have to write this in script.