Error with Compliance Control

[jwwood17]

I am trying to use the compliance control mode to press a tool into a screw. As I understand it, this is accomplished with the following lines of code.

stiffness = [3000.0, 3000.0, 3000.0, 200.0, 200.0, 200.0]
force_values = [0, 0, -0.1, 0, 0, 0]
direction = [0, 0, 1, 0, 0, 0]
task_compliance_ctrl(stiffness)
set_desired_force(force_values,direction)

followed by

release_force()
release_compliance_ctrl()

However, sometimes when moving out of the screw afterwards, the robot jerks suddenly and throws this error cannot signal semaphore count would exceed maximum The robot doesn't respond until a full reset is performed.

[doosan-robotics]

Hello @jwwood17

This error occurs due to collision detection. Try setting the collision sensitivity to 1 in TP when performing that motion again; it should be possible. Alternatively, you can prevent collision detection by setting up a safety zone in the workspace before using that function.

Thank you

[jwwood17]

Hello @jwwood17

This error occurs due to collision detection. Try setting the collision sensitivity to 1 in TP when performing that motion again; it should be possible. Alternatively, you can prevent collision detection by setting up a safety zone in the workspace before using that function.

Thank you

@doosan-robotics Is it possible to activate these settings via a script so I can reduce the collision sensitivity during the specific motion and then increase it again afterward for safety purposes? Are there commands for activating and deactivating predefined safety zones?

Thank you