Part seating in CNC lathe


I’m having some problems with seating a part flush with the CNC chuck.

The part enters the chuck without issue and hits the bottom. I am trying to use the force mode to force the part flush, but i end up with the robot wobling around the edges instead.

My current program looks like this:

  • Movel close to chuck
  • Slow direction untill contact, no retraction
  • Force: Frame mode Z: 2N → 15N and Rx + Ry: compliant (0Nm)
  • small wait (.5 → 2 sec)
  • Chuck clamp

Any sugestions?

You might try setting the TCP to the location where the force is being applied for this one operation.

After fidgeting with this for a while i got the result i wanted by increasing force on Z and disabling Rx and Ry.

Luckily the gripped had enough slack so the part slips a bit and goes to the desired position when enough force is applied.