Direct Torque Feature

Technical Questions
1

Hi

I am trying to use the Direct Torque feature, but I am still struggling to get the UR10e to respond. The available documentation and examples for Direct Torque seem limited.

Could you please share any additional details, example workflows, or code templates that demonstrate the correct setup and usage (including any required robot settings, safety modes, or RTDE/URScript prerequisites)?

Kind regards

2

You can take a look here:

Please note that you need a loop to keep calling the function.

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