Skip condition on force system variable not triggering fast enough

    I'm trying to make a program that behaves similarly to the collaborative Touch-skip function. So far I've set up a skip condition that should stop the movement as soon as the part is recognized (as soon as the force sensor detects a Z force higher than 5N), but from all the runs I've done the robot stops way further down, when the force reaches as high as 80N, triggering the Contact force limit error and Push to Escape.

    The code is as follows:

    Code
    SKIP CONDITION $DCSS_CLLB[1].$EXT_FORCE[3] >= 5 
L P[1] 100mm/sec FINE Skip,LBL[1]

    If I try to stop the robot with my hand, as soon as the force goes above 5.1 it detects it. If I place the part where it should be, the robot no longer stops and keeps going until it eventually collides.

    Am I doing something wrong? Is there something that I can change or must add to the motion instruction to make it stop earlier?

    Is there a way to set a maximum force for the motion instruction, so it doesn't try to mash the part into the table?

  • Lemster68 June 30, 2023 at 2:25 PM

    Approved the thread.

    Hi goTVm,

    Use HIGH-SPEED SKIP:

    note the (extra) , PR[5]=LPOS instruction. --> HIGH-SPEED SKIP

    11: L P[1] 100mm/sec FINE Skip,LBL[1], PR[5]=LPOS


    $DCSS_CLLB[1].$EXT_FORCE[3]

    Is this var really Z-force or maybe Axis 3? . I don't know :frowning_face:

    Quote from goTVm

    Is there a way to set a maximum force for the motion instruction, so it doesn't try to mash the part into the table?

    At yellow robots use COLLISION GUARD

    • COL DETECT ON, COL DETECT OFF

    • COL GUARD ADJUST

    Quote from PnsStarter

    $DCSS_CLLB[1].$EXT_FORCE[3]

    Is this var really Z-force or maybe Axis 3? . I don't know :frowning_face:

    From what I know it is. It would make sense for it to be, since it rises as soon as it comes into contact with anything from above.

    Quote from PnsStarter

    Use HIGH-SPEED SKIP:

    note the (extra) , PR[5]=LPOS instruction. --> HIGH-SPEED SKIP

    11: L P[1] 100mm/sec FINE Skip,LBL[1], PR[5]=LPOS

    I put 100mm/sec as the speed, but I've tried with speeds as low as 10mm/sec and it still collides. Also, I don't really need to know where the robot is when it stops, do I need to save the position as a PR? Would that help avoid collisions?

    The robot I'm working on is not yellow, and as far as I know it does not have collision guard installed.

    Hello, im happy i found this thread because im having the same issue kind of.
    In my case the aplication is about placing one box in top of another but the height variates, so im trying to use the skip method as well but im having colision quite often. the robot im using is a colaborative fanuc crx 25ia

    I haven´t tried yet adding PR[5]=LPOS, the question is if i have to add a move l to the PR after de line "11: L P[1] 100mm/sec FINE Skip,LBL[1], PR[5]=LPOS"? like:

    11: L P[1] 100mm/sec FINE Skip,LBL[1], PR[5]=LPOS
    12: L PR[5] 100mm/sec FINE.

    In my case, beacuse of the cycle time i have to fulfill, the robot is in high speed mode . how those the col guard works, its like deativate when im placing and activating after? what is the way to implement it?

    Edited 2 times, last by BD_710 (April 26, 2024 at 7:48 PM).

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