Hello, I'm using the 3.3 version of the software, and when I move the robot into a similar testing position for the base feature force setup and hit test, then push the teach button on the back of the tablet I get the error 'Force mode not possible in singularity.' Do you have any suggestions for dealing with this? Thanks,
That seemed to do the trick! Do you know if it is possible to set these forces to some local variable so they can be changed through a python script? Ideally I would like to be able to set these forces to move the arm around from a python script instead of the teaching pendant.
I have read through the script manual and have also tried running through the example of dynamic force mode of the UR website www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/urscript-dynamic-force-control-20571/ However, the script seems to simply go to the waypoints and the addition of the force mode doesn't appear to make any changes. Unfortunately what I am trying to do requires force control, so speedl will not work. I have set up the connection correctly and can read from the arm and send it to targets and joint positions. Could there be something I am missing in sending the force thread? I have just been sending each of the lines as s.send(b"line_of_UR_code" + b" ")
I have, my guess is that the thread is not being sent properly over the ethernet port. When I send commands like movej they work fine, I think the issue is with sending code like while loops. Apologises for pasting code, but this is how I am currently trying to send the force_mode thread if it is of any help. s.send(b"thread Force_properties_calculation_thread_1():" + b" ") s.send(b"while (True):" + b" ") s.send(b"force_mode(base(), [0, 0, 1, 0, 0, 0], [0.0, 0.0, 10.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.15, 0.17, 0.17, 0.17])" + b" ") s.send(b"sync()" + b" ") s.send(b"end" + b" ") s.send(b"end" + b" ") Could it be a formatting / indentation problem? Thank you again for the help, there is so little information about this online!
How do I make Force mode be linear? The arm bounces on contact with an object.
In the point mode, How can we select the point ?
Hello,
What is the maximum press force that you can input?
Laurence
Thanks for the prompt reply. What model do those numbers correspond to? The UR3, 5 OR 10?
Hanzhen hamonic drive gear ,
strain wave reducer,
robot joint ,
over 30 years experience
Hello, I'm using the 3.3 version of the software, and when I move the robot into a similar testing position for the base feature force setup and hit test, then push the teach button on the back of the tablet I get the error 'Force mode not possible in singularity.'
Do you have any suggestions for dealing with this?
Thanks,
Thanks for the quick reply! I'll try and give that a shot.
That seemed to do the trick! Do you know if it is possible to set these forces to some local variable so they can be changed through a python script? Ideally I would like to be able to set these forces to move the arm around from a python script instead of the teaching pendant.
I have read through the script manual and have also tried running through the example of dynamic force mode of the UR website
www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/urscript-dynamic-force-control-20571/
However, the script seems to simply go to the waypoints and the addition of the force mode doesn't appear to make any changes.
Unfortunately what I am trying to do requires force control, so speedl will not work.
I have set up the connection correctly and can read from the arm and send it to targets and joint positions. Could there be something I am missing in sending the force thread? I have just been sending each of the lines as
s.send(b"line_of_UR_code" + b"
")
I have, my guess is that the thread is not being sent properly over the ethernet port. When I send commands like movej they work fine, I think the issue is with sending code like while loops. Apologises for pasting code, but this is how I am currently trying to send the force_mode thread if it is of any help.
s.send(b"thread Force_properties_calculation_thread_1():" + b"
")
s.send(b"while (True):" + b"
")
s.send(b"force_mode(base(), [0, 0, 1, 0, 0, 0], [0.0, 0.0, 10.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.15, 0.17, 0.17, 0.17])" + b"
")
s.send(b"sync()" + b"
")
s.send(b"end" + b"
")
s.send(b"end" + b"
")
Could it be a formatting / indentation problem? Thank you again for the help, there is so little information about this online!
How would you send an entire function over the socket connection? I thought each line had to be terminated by the end line character ("
").