So, long time lurker here, and I have a question I hope I can get some help with. Seems like practically every question I've had so far has been answered in one way or another here, so thanks for that!
I am working with a tool changing system on a model R-2000iB 210f coupled with a R30iA controller. I've taught the coupling/uncoupling of the tools and it's damn near perfect. However, one thing is getting under my skin while watching it at teaching speeds. Clearly the tool is being forced into latching position. I've had these (expensive) units fail in the past just due to years of changing 2000+ times a week, wearing out prematurely. The tool changer is pretty much two shafts, one that aligns the tool, and one that is used to actually couple/uncouple the tool.
Ideally, I'd like to let the robot relax at the pick point. This way I could see my encoder values, set up a more exact frame and enable a linear Z movement into and out of the pick. If I had the soft float option installed on this guy, that'd be easy as I'd just make the pick point a PR and it would iron itself out. However, right now that isn't an option.
I have thought of utilizing a brake box for J4-J6, but something about repeated power cycles for this process seems a bit too much. Is there a way to 'relax' joints without softfloat while the robot is energized? Any other great ideas?