Hello,
I have an issue with a UR5e that is currently assembling pieces on a 6x2 tray, since the tolerance of this assembly is low, I’m using Robotiq Force Copilot (Insertion node - Spiral) inside a Pallet grid pattern node and i put the insertion inside the Tool Action automatically generated folder.
The insertion is a spiral move with:
- speed: 5 m/s
- Force (both): 15 N
- direction: Tool Z+
Given that all the corner-items of the grid are at the same height (Z), with precise x and y and I used the corner-item-1 to create the tool-action-point, I encountered this problem:
- For the first 5 items the Insertion node works as intended (from the upper point to the lower)
- Sometimes when trying to insert the 6th item (last of the 1st row) instead of going downwards (Z+ tool, and Z- for the base-reference) it goes upwards.
- Always happens for all the other items, from 7 to 12
I have tried everything, also to create 2 line patterns (1x6 x2) and, to my surprise, that works, but grid is also supposed to.
Any help would be sincerely appreciated.
Thank you in advance.