Hello,
I have an application where the robot has to pick parts on a pallet.
In this application the robot has to push on the part with the gripper before closing its jaws and picking it.
The tool goes from point A (ex: 10 0 10 0 0 45) to B (ex: 0 0 0 0 0 45)
I activate softfloat before moving to B.
L P[1:A] 1000mm/sec CNT20
SOFTFLOAT[1]
L P[2:B] 1000mm/sec CNT20
SOFTFLOAT END
Softfloat is defined as cartesian, coordinate tool, soft rat all 0% and soft tol 50% on Z direction only..
My problem is that the tool does not go to the taught position when softfloat is enable..
In fact, it stops somewhere between A and B.
It seems that the distance between point A and point B depends on the % of the "soft tol" parameter.. It also seems to depend on moving speed..
I have tried to set a point B further (-10 0 -10) but I am not sure that it is the best solution..
What am I doing wrong?
Is this application is feasible with the softfloat option?
Is it possible to reach a precise gripping point when softfloat is active?
How to determinate the position of B point to be sure that the tool will move?