# Force control

**URL:** <https://tech-community.robotics.abb.com/t/force-control/11148>\
**Category:** IRC5\
**Tags:** grinding-irc5-force-control\
**Created:** [June 13, 2023, 3:18pm UTC](https://tech-community.robotics.abb.com/t/force-control/11148 "2023-06-13T15:18:24Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![slim1978](https://avatars.discourse-cdn.com/v4/letter/s/ba9def/32.png) [@slim1978](https://tech-community.robotics.abb.com/u/slim1978)\
**Post date:** [June 13, 2023, 3:18pm UTC](https://tech-community.robotics.abb.com/t/force-control/11148/1 "2023-06-13T15:18:24Z")

</div>

Currently have a program on an IRC5 the robot holds the part with a gripper and grinds the edge of it with a 120 grit belt. Operator needs more material taken off to meet specs. I did not write the program was wanting to know if I could change a number on the force control to have it push a little harder onto the belt here is the program for the force control I have never used this on a robot Thanks in advance

MODULE Force\_Control

PERS loaddata my\_load;  
PERS bool btimeout1:=TRUE;  
CONST fcdamping FC\_myDamping:=[50,100,100,300,300,300];  
PROC Abs\_LoadID()  
MoveAbsJ [[0,-24,42,0,-18,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs, v1000, z50, tool0;  
ENDPROC

PROC rLoadId()  
MoveAbsJ [[0,-24,42,0,-18,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs, v1000, z50, tool0;  
my\_load:=FCLoadId();  
FCCalib my\_load;  
FCAct mfcGripper4090080SA;  
Stop;  
FCDeact;  
ENDPROC  
PROC rSimpleFC()  
WHILE btimeout1=FALSE DO  
MoveAbsJ [[0,-24,42,0,-18,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs, v1000, z50, tool0;  
my\_load:=FCLoadId(\MaxMoveAx5:=70);  
FCCalib my\_load;  
btimeout1:=TRUE;  
ENDWHILE  
FCAct mfcGripper4090080SA;  
WaitTime 20;  
FCDeact;  
Stop;  
ENDPROC  
PROC rFC\_Activate()  
FCAct mfcGripper4090080SA;!\DampingTune:=FC\_myDamping;  
Stop;  
FCDeact;  
ENDPROC  
ENDMODULE