SoftMove - faulting when disabling Cartesian soft servo CSSDeactMoveL
I have an application where we want to use CSS to allow the end-effector to fully engage with a bracket we are picking up from a stack.
I enable CSS using the following command
CSSAct \RefFrame:=CSS_REFFRAME_WOBJ, CSS_Z \StiffnessNonSoftDir:=50 \Stiffness:=1 \AllowMove;
Then move to engage with the part, enable vacuum and then move away and disable CSS
CSSDeactMoveL p1, v50, tool1\WObj:=wobj1;
The robot moves to p1 no issue but once it reaches it throws a series of errors (I'll list them later) mostly to do excessive servo speed.
I read through the manual and see that if you are using safe move to setup a contact application tolerance, i configured this and it didn't seem to help.
Does anyone have experience with this?
Few things I will try is setting the CSSDeactMoveL position to the robot current position and disabling SafeMove to see if it is that which is causing the issue.
I have used Softmove and Safemove together and I just added a CAP to all my safe zones.-----------------
Swedish freelance ABB robot programmer1
Thanks, I found calculating a robotarget from the current joint position and then use that as the target position when disabling CSS fixed the issue.
- 10.4K All Categories
- 5.3K RobotStudio
- 350 UpFeed
- 15 Tutorials
- 9 RobotApps
- 282 PowerPacs
- 404 RobotStudio S4
- 1.8K Developer Tools
- 239 ScreenMaker
- 2.6K Robot Controller
- 251 IRC5
- 36 OmniCore
- 6 RCS (Realistic Controller Simulation)
- 3 RobotStudio AR Viewer
- 701 RAPID Programming
- 14 Wizard Easy Programming
- 107 Collaborative Robots
- 3 Job listings