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How to control speed change during FCRefForce movement?

grth46
grth46 ✭
in RAPID Programming
I am using the following code to achieve a contact force between tool and workobject.

                FCRefForce\Fz:=500;
                FCCondForce\ZMax:=500,60;
                FCSetDampingTune 9E+09,9E+09,6250,9E+09,9E+09,9E+09;
                FCRefStart;
                FCCondWaitWhile;
                FCRefStop;

The robot starts moving into the part to get to the reference force and reduces the TCP speed dramatically during the last few Newtons of force. I've been told, that the combination out of FCRefForce and Damping Tune defines a fixed TCP speed. I want it to maintain the TCP speed along all the way until the force of 500 Newtons. Is there any way to control this?
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