GoFa, FCLoadId and FCGetForce

Options
hcostelha
hcostelha ✭
edited July 7 in Collaborative Robots
Hi,

I need to get the center of mass and load of a tool, in order to use Force Control on a GoFa. However, when I run the FCLoadId function, it fails stating "The identified mass is 0 (kg), load too small or sensor config wrong".

This a GoFA without any additional sensor, so I shouldn't need any additional config, right?

In the meantime I read in the "Application manual: Force control Standard for GoFa" that the FCLoadId is not available in GoFa (the manual states "This function is not used for the GoFa robot." in the FCLoadId section). So what is the alternative to estimate the load center of mass and weight?

I also tried to use the FCGetForce function, but it also always returns [0, 0, 0] for the xforce, yforce and zforce components, something that works well on another non-collaborative robot where we use the FC package.

Thanks in advance for any help.
Best regards,
Hugo Costelha
Post edited by hcostelha on
Tagged:

Categories