[leem2209]

I've created curve follow projects in RoboDK for sanding which works great, however with some of the angles of the workpiece and the size of the sanding head, there are inconsistencies with pressure and finish quality. 

So, I've inserted the RoboDK generated UR script under a Force node in the UR teach pendant. With tool force selected and in the Z axis.

It mostly works ok, but when doing the Approach and Retract movements, I could do with not having torque for these movements. I could manually edit the script into 3 and insert the required force code before and after the main sanding part (after Approach completed), but we're looking at letting our client be able to create new programs as easy as possible without having to edit code.

Has anyone achieved using force torque with generated RoboDK script?

[Albert]

You can trigger your own events that will activate and deactivate the force control strategy along the path when you use a curve follow project.

You can find more information here:
https://robodk.com/doc/en/Robot-Machinin...ningEvents

Can you share your RoboDK project file? We can help you better.

[leem2209]

You can trigger your own events that will activate and deactivate the force control strategy along the path when you use a curve follow project.

You can find more information here:
https://robodk.com/doc/en/Robot-Machinin...ningEvents

Can you share your RoboDK project file? We can help you better.

I was under the impression the code for the movements within the force had to be between the "Force On" and "Force Off" scripts... so didn't think events would work.

Which on waking up today, I realised it will be if these scripts are added to the "onPathStart" and "onPathFinish" events, then the movements will actually be between the force on/off in the complete code that the robot will run.

I've already used the "onApproach" and "onRetract" events to trigger the sander tool on/off. So familiart with the events now.

Just tested by moving the script to events, and it seems to be working fine!

Thanks Albert. 

For others who may wish to understand how I've used RoboDK Curve Follow Project with force:

Within the curve follow project, in "Program Events" - Select the onPathStart, onPathFinish, onApproach and onRetract (as per link from Alberts reply above)

When you're happy with your curve, right click the commands and "Generate Robot Program" - Save this to a USB stick with a .script extension.

In UR pendant:

I have a MoveJ to a pre-start waypoint then add a script (I have 2 scripts in my program as you can see from the screenshot attached)

Change the script from Line to File and load your generated script from your USB.

Best to save the script to the robot so you don't have to keep the USB in the pendant.

Add 4 sub-programs named onApproach, onPathStart, onPathFinish, onRetract (Ensure capital letters are correct too) - these get called from the RoboDK generated script.

onApproach, I have set DO High for the sanding tool to operate (want it running before it touches the piece)

onPathStart, here is where I want force, at the beginning of the sanding path, so I have the script for the UR force start (I also have an active compliance unit attached so have the URCap command for that in here too) - the UR script for having positive force away from the tool flange (towards the workpiece - Z axis, -10N) is (adjust for your needs):

    force_mode( tool_pose(), [0,0,1,0,0,0], [0.0, 0.0, -10.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.2, 0.17, 0.17, 0.17])

onPathRetract, here is where we turn the force of at the end of the sanding path. Again, I have the URCap command to stop the active compliance unit and a script for end force, which is:

    end_force_mode()
    stopl(5.0)

onRetract, here is where I will set the DO Low for turning off the sanding tool.

Hope this is of some help to anyone who finds it, I saw a few similar questions asked about using UR Force with RDK.

[Albert]

Excellent! Thank you for your feedback and contribution to integrating force control with UR and RoboDK.