Hello. I’m having an issue with the Force command when trying to use the UR10E model robot. I helped write a simple program to sand the surface of a weld on a flat sheet metal coupon, with 5N of force being applied as it runs across the 4" long weld. On about 1 out of every 3 times I run the program, the program misses the Force command and the tool glides about half an inch above the weld instead. Any idea why it may be missing this command on occasion? If you need to ask any more questions to understand my question better, I will be happy to answer them.
I’ve noticed some weirdness with force in the past where the robot would occasionally move in the opposite direction of the force command. My issue was the payload center of mass varying too much when picking up sheet metal.
I recommend making sure the force sensor is zeroed out before the command*, making sure the correct payload is set, and increasing the force if possible. Vibrations or cables may also be causing an issue if there is a power tool on the end of the UR. 5 N is a very small force.
*Use the script command zero_ftsensor() You may need to add a wait command to let vibrations settle beforehand