# Direct Torque Feature

**URL:** <https://forum.universal-robots.com/t/direct-torque-feature/42339>\
**Category:** Technical Questions\
**Created:** [February 27, 2026, 10:20pm UTC](https://forum.universal-robots.com/t/direct-torque-feature/42339 "2026-02-27T22:20:46Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Mohanad](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mohanad/32/7453_2.png) [@Mohanad](https://forum.universal-robots.com/u/Mohanad)\
**Post date:** [February 27, 2026, 10:20pm UTC](https://forum.universal-robots.com/t/direct-torque-feature/42339/1 "2026-02-27T22:20:46Z")

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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

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<div class="post-metadata">

**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [March 2, 2026, 8:00pm UTC](https://forum.universal-robots.com/t/direct-torque-feature/42339/2 "2026-03-02T20:00:40Z")

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You can take a look here:

> **[direct\_torque(torques, friction\_comp=True)](https://www.universal-robots.com/manuals/EN/HTML/SW10_11/Content/prod-scriptmanual/all_scripts/direct_torque.htm?Highlight=direct%20torque)**

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