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Tool force IRB910

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Arnou
Arnou ✭
in Robot Controller
Hello

I'm using an IRB910SC to click to parts together.
We have a mould with the 1st piece and the robot clicks the 2nd piece onto the 1st. The program just does a MoveL into position. I've seen the contactL instruction but that only applies for the IRB14000. Is there anything similar for the IRB910?

Is there a way to know what force is being used to click the part into position? Right now I have the motor torque of axis 3, but I can't seem to find any information about gearing or anything of the specific axis so I can try to calculate/ make an estimate of how much force is being used.

Thanks in advance!
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