This thread collects experience with using Ft_Lin to detect a force threshold in a screwing application.

Status

Open collection. The basic behavior is described below, but there is no confirmed way yet to save the result for later use.

What is known

  • A community member reports that Ft_Lin ends and the program moves to the next line when the target force is reached.
  • With a 20 N threshold, the move stops at 20 N, so reaching the next line shows that the force was hit.

Reported problems

  • One user got an error when the threshold was not reached.
  • The same user wanted to save the result in a variable and use IF logic, for example to pick up a new screw when the force was not reached.

Related

Force sensor auto-zero in LUA shows how to read force values from Lua.

Please reply with

  • Robot model, sensor and software version
  • Your Ft_Lin parameters
  • Exact error when the force is not reached
  • How you solved the IF logic