Force contouring errors

    Hello,


    I just got a R-30iB mini plus CRX-5iA and I want to use it to edge polish disks vs a rotating table. So I thought an early test would be to use force contouring to press into the floor flat and then slowly change angle vs the floor with a linear motion while keeping a constant pressure towards the floor. I do this very slowly but I get alarms and its aborted. I get FORC-279 (contouring aborted) and SYST-348 (payload monitor force warning).


    Any help and tips would be appreciated.


    I use 0 kg payload as the robot is holding nothing atm.


    Version v9.40204

    DCS version v4.5.6


    Pushing Force 10 N

    Approach velocity 5 mm/s

    pushing dir velocity 2 mm/s

    Contact F threshold 6 N

    Push dist limit 127 mm

    Motion starts after contact

    Force controll gain 2 Hz


    I also get SYS-320 (contact force exceeds limit) sometimes. Also SYS-321 which is annoying as i have to manually lift the hole robot a few mm to reset.

    Hello,


    Shameless Uppdate/bump.


    I get the feeling that the robot arm kind of works but it is to sensitive before aborting.


    Is there a way to increase the limits so it can take more force before giving an error?


    Kind regards Carl RH

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