Posts by rcole

    Well I've answered my own question and let me tell ya it wasn't the easiest so I'm going to share it so that it might help someone else in the future.

    the code will allow the cobot to search using force, I'm sure there may be an easier way to do it but i have broken it down so that it might be easier to understand it, I hope.

    # 1. Move to initial posj

    q0 = posj(-1.41,38.48,55.68,0.02,84.79,178.6) """These are my cobots positions, you'll have to add your own"""""""""




    # 2. Approach to the position to start force control set_velx(75.0)


    delta_approach = [0.0, 0.0, -100.0, 0.0, 0.0, 0.0]

    movel(delta_approach, mod=DR_MV_MOD_REL)

    # 3. Start force control (apply -20N force along Base–z direction)

    k_d = [3000.0, 3000.0, 3000.0, 200.0, 200.0, 200.0]


    force_desired = 20.0

    f_d = [0.0, 0.0, -force_desired, 0.0, 0.0, 0.0]

    f_dir = [0, 0, 1, 0, 0, 0]

    set_desired_force(f_d, f_dir)

    # 4. Force & compliance control after detecting external force

    force_check = 20.0

    force_condition = check_force_condition(DR_AXIS_Z, max=force_check)

    while (force_condition):

    force_condition = check_force_condition(DR_AXIS_Z, max=force_check)

    if force_condition == 0:


    delta_motion = [2.0, 2.0, 0.0, 0.0, 0.0, 0.0]

    movel(delta_motion, mod=DR_MV_MOD_REL)

    # 5. Retract 150mm in Base-z direction and move to initial posj release_force()


    delta_retract = [0.0, 0.0, 150.0, 0.0, 0.0, 0.0]


    movel(delta_retract, mod=DR_MV_MOD_REL)

    Hi Everyone,

    I have a Doosan cobot M0617 and I'm using a OnRobot sander with the hex force sensing that the sander is connected to.

    I also have the quick pad changer that scrapes the old pad off on one side and has a stack of new pads on the other....

    I need some advice on how to code the search function on the side with the new pads to stop once it see's the force of the pads.

    I'm not sure what other info maybe needed so please ask and ill do the best i can to get it to you.

    Thanks in advance.

    thank you Lemster68 Ive been through that about 3 times and not finding it... its very hard to get the manuals for an antique.

    I reached out to ABB even , they gave me the service manual for the S3 but that didn't help either.

    I need some help with an ABB S3C M93 . i am trying to calibrate the arm but i do not know the key strokes to do so.

    If anyone has a manual they can share or remembers how to do this please share it would be much appreciated.

    you can create a zero program and then manual run the program and it will show you how much each axis is off set....

    name program zero use a joint line highlight (1) Once highlighted you will notice i think its F4 will be repre or something like that
    select it then you will have the cordinece screen again hit F4 and choices will be Cartesian or joint select joint, then change each axis numbers to zeros be sure to hit done once you complete that... Once you hit done it goes back to you program you may have to move the highlight back to the left but there you should be able to run it manually and see where each axis lines up.. use caution with this go slow speed so that you don't run into anything but it'll let you know how off each axis is....

    Good Morning

    I have a UP50N (NX100) and im stumped...
    when i move in world on Y the R has a slight roll..
    You can start centered up as you move minus it rolls minus and coming back it will center it self back the when moving positive it rolls positive...
    I am just starting to program on this arm and noticed the issue... I've tried setting up TCP, remastering about 100 times, also tried reiniting the system thinking a parameter was changed and didn't know but it didn't change a thing.
    I've also tried a different cpu with a diff version of software and still have the issue...
    The biggest part that stumps me is that i have another up50n that works fine and i can load a backup of the problem up50n and have the same issue then reinit it and be fine again...

    Does anybody have any ideas? What am i missing? Please help!

    Needs some help.. i have an R30iB Mate w\M10iA\12
    I'm getting srvo157 chgal = Cause: The charge of the capacitor of DC link voltage on the servo amplifier could not finish within
    specified time.

    i have tried everything the crc is saying and fanuc has said to try, changing amp, estop board and also tried the contact behind e stop board...
    i also verified that all voltages are correct...

    Has anyone seen this.. PLEASE HELP!!!!!

    Im deintagrating A controller\robot i purchased, (SIA20D w\DX100) and i have a NSU01 board that was in it and i'm starting to think i should have left it in.
    I'm not 100% sure but im getting an external hold now and looked at a normal TP harness schematic and see that there is a difference and realize my mistake but im not sure how to fix it with what i started with.
    What is the NSU01 boards purpose as well as without replacing my internal TP harness how do i use the NSU01.