Greetings,
In my program I need to update the force value through the path. Let’s say that during the first 5 waypoints I need a force of (0,0,-10,0,0,0), then for the next 5 points I’ll need a force of (0,0,-20,0,0,0) and so on…
I have “sucessfully” done this but between force shifts the robot stops and only then proceeds.
I wanted to know whether is it possible to avoid these stoppings in order to get a perfect flow.
Best regards
Not that I have found.
On the force mode template within the teaching pendant there is a blend option available that could help?
Also, how have you managed to get it to follow a path accurately while in Force mode? Mine usually goes way off course so we resort to moving outside of force mode to waypoints “Until Contact” and then switching to force mode for safety.
Greetings,
I’ll see about that. With force there is usually a slight deviation from the path, but in my case (which is more complexed than the one I posted), I haven’t had any major issues.
Best regards
Sounds good, let us know if the blend works out!