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.
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