comments

Author: URJala

resources/external_control.urscript

@@ -514,6 +514,9 @@ thread script_commands():
         force_type = raw_command[20] / MULT_jointstate
         force_limits = [raw_command[21] / MULT_jointstate, raw_command[22] / MULT_jointstate, raw_command[23] / MULT_jointstate, raw_command[24] / MULT_jointstate, raw_command[25] / MULT_jointstate, raw_command[26] / MULT_jointstate]
         force_mode_set_damping(raw_command[27] / MULT_jointstate)
+        # Check whether script is running on CB3 or e-series. Gain scaling can only be set on e-series robots.
+        # step time = 0.008: CB3 robot
+        # Step time = 0.002: e-series robot
         if (get_steptime() < 0.008):
           force_mode_set_gain_scaling(raw_command[28] / MULT_jointstate)
         end

src/ur/ur_driver.cpp

@@ -352,7 +352,7 @@ bool UrDriver::setToolVoltage(const ToolVoltage voltage)
     return sendScript(cmd.str());
   }
 }
-// Function for e-series robots
+// Function for e-series robots (Needs both damping factor and gain scaling factor)
 bool UrDriver::startForceMode(const vector6d_t& task_frame, const vector6uint32_t& selection_vector,
                               const vector6d_t& wrench, const unsigned int type, const vector6d_t& limits,
                               double damping_factor, double gain_scaling_factor)
@@ -410,7 +410,7 @@ bool UrDriver::startForceMode(const vector6d_t& task_frame, const vector6uint32_
   }
 }
 
-// Function for CB3 robots
+// Function for CB3 robots (CB3 robots cannot set gain scaling)
 bool UrDriver::startForceMode(const vector6d_t& task_frame, const vector6uint32_t& selection_vector,
                               const vector6d_t& wrench, const unsigned int type, const vector6d_t& limits,
                               double damping_factor)