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Force() mode on UR10 - program halts because it can't reach the target
#1
Good evening,

I have set the Force mode using:
Command = "force_mode( tool_pose(), [1, 1, 1, 1, 1, 1], [10.0, 10.0, 100.0, 10.0, 10.0, 10.0], 2, [0.1, 0.1, 0.15, 0.17, 0.17, 0.17])\n".encode('utf-8')
Robo_Sock.send(Command)

Which seems to be working.

The problem with this is that when I try to execute a linear move after setting force mode to be on the robot moves until it reaches it's force limit
and then halts execution by trying to continue moving to a point it cannot reach.

Is it possible to add a timeout to this linear move in roboDK as currently it is blocking the rest of the program
from executing.

Alternatively if anyone has any experience getting data from the 'force()' function when sent via TCP sockets from
a python script it would be great as we can rebuild the movement to increment until the desired force is reached. 

Currently when we read the return from the TCP socket it contains thousands of bytes of data that we can't parse.

Kind regards,

Alan
  




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