HI,
Am working on a project with force Control to do a grinding operation ( IRB 4600, IRC5 controller, Robotware_6.09.0154)
when the grinder turned on my force value is fluctuating, it goes like 0 to 80N
how do i stabilize this?
Did i miss anything ? please help me correct this.
var num nforce;
var num nAngleY;
nforce=10
TempLoad:=FCLoadID(\LoadidErr:=nFcloadErr);
FCCalib TempLoad;
!Grinder On
FCPress1LStart reltool(Apoint,0,0,0\Ry:=nAngleY), v20\Fz:=nForce, 80\ForceFrameRef:=FC_REFFRAME_WOBJ \ForceChange:=50 \DampingTune:=100 \TimeOut:=5 \UseSpdFFW,\PosSupvDist:=10, z1, t4inGrinder\WObj:=WbjGrind;
FCPressL reltool(ABpoint,0,0,0\Ry:=nAngleY),v20,nForce,z1,t4inGrinder\WObj:=WbjGrind;
FCPressL reltool(Bpoint,0,0,0\Ry:=nAngleY),v20,nForce,z1,t4inGrinder\WObj:=WbjGrind;
FCPressEnd rGrindingEnd_1,v50\DeactOnly,t4inGrinder\WObj:=WbjGrind;
!Grinder Off
Thank you