Hello,

I have started working with a LBR iiwa. While trying to use movement stops with ForceConditions the robot did not start the movement on low forces (e.g. 0.5 N). After looking at the measured force values (see code below) I get calues of up to 3N and inaccuracy of almost 4N (see image). I had nothing attatched to the robot and did nat attatch anything in the programm.

Are these values normal? If not, any ideas on the reason?

Code

- ForceSensorData KraftData;
- double Kraft_X;
- double Kraft_Y;
- double Kraft_Z;
- double KraftFehler_X;
- double KraftFehler_Y;
- double KraftFehler_Z;
- double Moment_X;
- double Moment_Y;
- double Moment_Z;
- double MomentFehler_X;
- double MomentFehler_Y;
- double MomentFehler_Z;
- robot.move(ptp(Math.toRadians(0), Math.toRadians(35), 0, Math.toRadians(-85), 0, Math.toRadians(59), Math.toRadians(-45)).setJointVelocityRel(0.5));
- KraftData = robot.getExternalForceTorque(robot.getFlange());
- Kraft_X = KraftData.getForce().getX();
- Kraft_Y = KraftData.getForce().getY();
- Kraft_Z = KraftData.getForce().getZ();
- KraftFehler_X = KraftData.getForceInaccuracy().getX();
- KraftFehler_Y = KraftData.getForceInaccuracy().getY();
- KraftFehler_Z = KraftData.getForceInaccuracy().getZ();
- Moment_X = KraftData.getTorque().getX();
- Moment_Y = KraftData.getTorque().getY();
- Moment_Z = KraftData.getTorque().getZ();
- MomentFehler_X = KraftData.getTorqueInaccuracy().getX();
- MomentFehler_Y = KraftData.getTorqueInaccuracy().getY();
- MomentFehler_Z = KraftData.getTorqueInaccuracy().getZ();