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
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.