Hello, I am looking for a bit of guidance on the proper way to determine and apply the correct settings in the touch skip schedule.
We have a stack of "boxes with open tops" that arrive into the work cell and have been stacked by a human. These are not always perfectly stacked. What I do is come straight down in from above to a point about in the center of the box. I then then want to move towards an edge of the box and "find" it using the touch skip.
Ideally, it would "satisfy the skip condition" EVERY time so that during the next steps the gripper can be positioned properly inside the box. I have not been able to accomplish this reliably though and have gotten a lot of "false skips", whereas the robot never even approaches the edge, didn't move over far enough, and then my gripper wrecks into the opposite side of the box when I move it into position.
The overall "Z" change from layer 1 to layer 5 is around 250mm. I understand that this presents different torques on the joints for each layer. Maybe that is an issue?
I am using values like 1.00 Max and -1.00 Min for my J3 enable. I've monitored the axis disturbance during these moves and those appear to be the correct settings to "satisfy the skip condition". But apparently it is not.
Do settings of the Collision Guard affect the sensitivity of the Touch Skip?
This is my first time programming a robot like this, so please bear with me, as I am new.