Hi,
Using an M10 with the FS-15 Force sensor and an ATI QC-20 tool Changer. Due to some customer requirements, I wasn't able to anchor the robot stand to the ground or to the tool station, so occasionally things start to drift (mildly, +/-0.030" max). What I've been doing when it gets bad is let the robot make the stab, albeit it sloppy, and hold its position, then adjust the position until the forces in all directions is minimal then reteach the position. Is there a comparable program/feature that comes with the Force sensor software (we've got them all) that can automate this? I haven't had any luck with any of them working repeatably to date. I'd like to crank up collision detection and have it run the force sensor routine when it drifts enough to cause a disturbance.
Thanks in advanced,
JB