error occurred when deactivate the force control

LIKUNWANG

Hi there,

I have tested the following code in manual mode,

and got two events messages running the last line "FCDeact" ,

     PROC constantForceControl()

        MoveJ offs(FCStartPoint,0,0,5),v100,fine,tTCFace; ! start 5mm above contactpoint

   

        FCCalib toolWeight1;

        FCRefForce\Fz:=-10; ! newton

        FCAct tTCFace;

        FCRefStart;

        WaitTime 15;

        FCRefStop;

        FCDeact;       

    ENDPROC

Event 1:

SC 1 OVR Speed exceeded

Description

Override (OVR) Speed limit exceeded on Mechanical unit ROB_1.

Probable causes

If Override (OVR) is active, then OVR speed limitations will be active.

Actions

Decrease speed

Deactivate OVR

Event 2

SC 1 STZ violation

Description

Safe Tool Zone (STZ) is violated on Mechanical unit ROB_1.

Tool 00 was active.

Cause 11

Probable causes

1. Exceeded speed

2. Wrong tool position

3. Wrong tool orientation

4. Wrong elbow position

11. Wrong tool point 1 position

The events  occur when the robot try to jump

out of the force control.


can anyone give some suggestions!

Thanks in advance!!!!

graemepaulin

It looks like you have SafeMove setup?

Presuming you have setup SafeMove to stop/control hazardous behavior - you will need to modify your RAPID program so the tool does not violate the SafeMove parameters.

LIKUNWANG

graemepaulin said:

It looks like you have SafeMove setup?

Presuming you have setup SafeMove to stop/control hazardous behavior - you will need to modify your RAPID program so the tool does not violate the SafeMove parameters.

Hi, 
I did install the safemove. Could you be more specific?
It seems that the violation is because of the tool speed, however I did reduce the tcp speed by defining speeddata, 
such as,
vmedium.v_tcp:=10;

graemepaulin

Check the speed that you have set in SafeMove - this applies to both the TCP and the elbow of the robot, so you may need to slow the re-orientation speed in vmedium as well to control the elbow speed.

You also have a point on the tool going outside your safety zone (cause 11) on event 2.

LIKUNWANG

graemepaulin said:

Check the speed that you have set in SafeMove - this applies to both the TCP and the elbow of the robot, so you may need to slow the re-orientation speed in vmedium as well to control the elbow speed.

You also have a point on the tool going outside your safety zone (cause 11) on event 2.

Hi,

Thank you so much. I am just a new starter to the ABB.

The limited speed in  the SafeMove is 250mm/s and 18deg/s.

I set the speed in vmedium as following,

        vmedium1.v_tcp:=5; ! mm/s

        vmedium1.v_ori:=5; ! deg/s

But it didn't work.
It is really weird that the rest of the code can be well implemented, just the robot cannot jump out of the force control.

The following are the parameters setting of the force control:

Max Ref Force                     1700

Max Ref Force Change              1000

Max Ref Torque                    400

Max Ref Torque Change             200

Max Ref TCP Speed                 0.08     m/s

Max Ref Rot Speed                 0.08     rad/s

Max Ref TCP Acc                   100

Max Ref Rot Acc                   100  

Lowest measured contact force     0

Largest measured contact force    10000

Lowest measured contact torque    0

Largest measured contach torque   10000

Speed superv. override            10

Max Press TCP Speed               0.08     m/s

Max Press Rot Speed               0.08     rad/s

keep contact force at strop       yes

Do these parameters make sense.??

graemepaulin

I am not an expert in the use of force control to be able to help much with a solution.

Does the robot ' jerk' when it disconnects?

You do not have any force controlled movements, though it appears you want to move down to contact a surface?

The force control manual gives some advice on force controlled pressure applications in the programming chapter.

LIKUNWANG

graemepaulin said:

I am not an expert in the use of force control to be able to help much with a solution.

Does the robot ' jerk' when it disconnects?

You do not have any force controlled movements, though it appears you want to move down to contact a surface?

The force control manual gives some advice on force controlled pressure applications in the programming chapter.

Hi,

Thanks a lot.

The robot doesn't jerk when it disconnects.
Just stops with the sound of motor turned off.
It is really weird that If I acknowledge the error, the command line "FCDeact;"  can then be implemented without an error 
and the robot will move to the point that i start the force control.

Yes, between the command lines   
       FCRefStop;

        FCDeact; 
It seems that there is no obvious moving command.
But, like I mentioned before, if the command line  "FCDeact;" can be implemented, the robot will move to the start point.