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.