I’m working on a wood sanding application using a gofa robot, Mirka 350s tool and an FT sensor which has a resolution near 0.1N, where my sanding force is 10-20N. I’m not sure which gofa to choose, 5 or 10, because i’m not sure how sanding vibrations will affect the robot corrections. I wrote here some process values to emphasize that my application requires some precision. I’m inclined to go with 10, as it can have a higher rigidity than smaller one. What do you think ? If someone had something similar, could you tell me what is the outcome. Thank you in advance:)
hello @alexl123 , your cobot choice also depends on how the part geometry is. To have some overcapacity w.r.t. force, GoFa 10/12 is normally my go-to choice, but also depending on lay-out restrictions. Technically, you might not need an external F/T sensor, if you equip the GoFa with Force Control option. Contact me if you have any further questions.
Thank you, i want to use Force Control option. I thought this lets me choose between external sensor and built-in joint sensor, but after checking into 3HAC083267-001, rev C it looks like dont allow me, right ?
GoFa has in-built force and torque sensors.
You won’t need to purchase additional hardware.
The Force Control features are enabled with a software option:
Don’t forget to order option 3415-1 “Force Control Standard”
There is also a great interface for Mirka tools with ABB robots.
Mirka developed an Add-In with a nice user interface for the FlexPendant, as well as dedicated programming instructions
I read that in documentation, but if you need a high force resolution how would you know if the in-built sensor is enough ? Is there any information about it ?
hi alexl123, the actual performance largely depends on your application and settings used. You could always reach out to your local abb sales representative or a system integrator
