# E-Series Force Torque Raw Data **URL:** \ **Category:** Robot Communication\ **Created:** [October 8, 2018, 4:51pm UTC](https://forum.universal-robots.com/t/e-series-force-torque-raw-data/2885 "2018-10-08T16:51:00Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![anon61863589](https://avatars.discourse-cdn.com/v4/letter/a/85f322/32.png) [@anon61863589](https://forum.universal-robots.com/u/anon61863589)\ **Post date:** [October 8, 2018, 4:51pm UTC](https://forum.universal-robots.com/t/e-series-force-torque-raw-data/2885/1 "2018-10-08T16:51:01Z")
Is it possible to pull the raw force/torque data out of the force/torque sensor integrated into the UR e-series? The real-time data interface provides a “TCP Force” wrench, but that data is been included for the CB series robots that have no integrated force/torque sensor. Has the data provided on that interface been refined using the FT sensor data or is there a new interface for grabbing the new data? Any insight here would be appreciated. Thanks! ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [October 10, 2018, 6:49am UTC](https://forum.universal-robots.com/t/e-series-force-torque-raw-data/2885/2 "2018-10-10T06:49:28Z")
The `TCP Force` data represents the data from the FT sensor in e-Series. In CB3 robots, this is the resulting (less accurate and more noisy) force generalized from the joint energy consumption model. ---
**Author:** ![anon61863589](https://avatars.discourse-cdn.com/v4/letter/a/85f322/32.png) [@anon61863589](https://forum.universal-robots.com/u/anon61863589)\ **Post date:** [October 11, 2018, 7:59pm UTC](https://forum.universal-robots.com/t/e-series-force-torque-raw-data/2885/3 "2018-10-11T19:59:49Z")
Perfect! Thank you so much for the clarification, Jacob.