Finding contours with FC

Robot Controller
1

I am trying to find the contours of an object using force control. The idea is that the tool will start at a given point on the object and then follow it’s unknown contour and record it. I tried to do it using machining FC but the tool just goes right through it, how do I make it recognize the object as a solid?

Thanks in advance for answers.

/Olof

2

I used collision in event manager to test my probe

3

Hello Olofs,
It’'s a good testing. I recommend give both start and end points will get easier that make the tcp follow the surface.