UR3e Force Mode: Overdrifting Issues Past Last Waypoint

Technical Questions
1

Greetings UR Community,

I am facing an over-drifting challenge on my UR3e robot during Force mode with MoveP.

In my setup, I’ve defined a linear path MoveP (speed 7, acceleration 150) (along Y) from Waypoint 1 → Waypoint 2 → Waypoint 3, with force (3N) exerted along the X-axis. Despite attempting solutions like wait commands and the end_force_mode() script, the over-drifting problem persists at the last waypoint.

I realized at different force values (1N vs 5N), the over-drifting will vary in up to 30mm.

Thank you for your time and expertise. I look forward to your thoughts on resolving this challenge and welcome any further questions for clarification.

2

what blend radius does your MOVP have, and where does the robot go after Waypoint 3? Is the drift in that direction?

3

My blend radius is set to 1mm as I need it to follow the precise movement along a curvature that is almost linear.

After waypoint 3, there is a waypoint for the UR to clear off from the contact surface, and then resume waypoint 1-> waypoint 3