Force control

slim1978

Currently have a program on an IRC5 the robot holds the part with a gripper and grinds the edge of it with a 120 grit belt. Operator needs more material taken off to meet specs.  I did not write the program was wanting to know if I could change a number on the force control to have it push a little harder onto the belt here is the program for the force control I have never used this on a robot Thanks in advance

MODULE Force_Control

    PERS loaddata my_load;
    PERS bool btimeout1:=TRUE;
    CONST fcdamping FC_myDamping:=[50,100,100,300,300,300];
    PROC Abs_LoadID()
        MoveAbsJ [[0,-24,42,0,-18,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs, v1000, z50, tool0;
    ENDPROC
    
    PROC rLoadId()
        MoveAbsJ [[0,-24,42,0,-18,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs, v1000, z50, tool0;
        my_load:=FCLoadId();
      FCCalib my_load;
      FCAct mfcGripper4090080SA;
      Stop;
      FCDeact;
    ENDPROC
    PROC rSimpleFC()
        WHILE btimeout1=FALSE DO
            MoveAbsJ [[0,-24,42,0,-18,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs, v1000, z50, tool0;
            my_load:=FCLoadId(\MaxMoveAx5:=70);
            FCCalib my_load;
            btimeout1:=TRUE;
        ENDWHILE
        FCAct mfcGripper4090080SA;
        WaitTime 20;
        FCDeact;
        Stop;
    ENDPROC
    PROC rFC_Activate()
        FCAct mfcGripper4090080SA;!\DampingTune:=FC_myDamping;
        Stop;
        FCDeact;
    ENDPROC
ENDMODULE