There is a noticeable delay (several seconds) when a 'Move to Contact' node is ran in a task. This is typically due to the force sensor attempting to zero its sensor, possibly due to shaking/vibration of the end effector/tooling.
- The Center of Mass (COM) and/or Payload is not set properly for the end effector/tool that is attached to the arm
- There is excessive shaking at the end of the move just prior to the move to contact, potentially due to speed and momentum of the previous move
- Verify that the Center of Mass (COM) and/or Payload is set properly in the system loadout screen
- Add a short jog node just before the move to contact node, to absorb the 'shake' that is causing a bit more time to zero the force sensor
If none of these solutions are correcting the problem, please gather all details of the issue, as well as troubleshooting steps attempted, and send an email to firstname.lastname@example.org to open a support ticket with our technical support team.