Circular grinding with force control?

    Hi all,


    I have an application that needs to grind the internal surface of a pipe. The pipe often has certain level of ovality that we would like the ABB robot to compensate for? Is this an application that is feasible with ABB Force Control (FC)? If so, would it be FC Pressure or FC Speed Change mode? Thanks!


    Regards,

    Stephen

    Halo

    We have something similar where the pressure of the grinding tool is controlled by a cylinder connected to a variable valve and that is controlled by a analog output card and the same for the speed of the grinder. If you have to run the robot slow you can decrease the speed of the grinder or the other way around. Everything is not standard ABB the cards are Beckhoff.

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