One of the engineers here pointed out a couple of issues:
- Open loop won’t work.
- In force control, the Target Position won’t change, so the force won’t either. I think that you could possibly switch to calculating the position based on the force. This would require getting the x value of the curve, given the y value. This only works if the curve is monotonic. Here is a link to a user function for finding the x value: Crv_interp_x