MoveL until a certain force is reached?

Robot Controller IRC5
1

Hello,

I am currently working on a new solution and would like to know if it is possible to very slowly push into an object using MoveL until a certain force is reached?

The force should not be high, but just enough to really make sure that the tool is touching the object before continuing running the program.

Is this possible, or am I better of just using vision for the coordinates?

Thank you for your help!

2

Hi…
You could use a combination of functions to achieve the result. I don’t know if this is the best way, as there are very good force and torque tools on the market, but here is a possible solution.

Use the ‘SearchL’ instruction, for the stop parameter use a persistent ‘pers1’ that will be set if the ‘GetMotorTorque’ function returns the torque you want.

Something like…

Create a service task…

! Task T_Service
MODULE ModuleServ
    PERS bool pers1:=FALSE;

    PROC main()
        WHILE TRUE DO
            WaitTime 0.1;

            IF GetMotorTorque(2)>100 THEN
                pers1:=TRUE;
            ELSE
                pers1:=FALSE;
            ENDIF
        ENDWHILE
    ENDPROC
ENDMODULE

In the main task…

! Task T_ROB
MODULE ModuleMain
    CONST robtarget P_1:=[[1460.18,0.03,891.70],[1.7032E-05,-1.20961E-05,-1,-3.00855E-05],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget P_2:=[[1460.18,0.03,191.70],[1.7032E-05,-1.20961E-05,-1,-3.00855E-05],[-1,0,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
        
    PERS bool pers1;
    
    PROC main()
         SearchL pers1,P_1,P_2,v100,tool0;
    ENDPROC
ENDMODULE

Maybe it needs changes, but that’s the idea, test it and get feedback.