# Force Function without Move

**URL:** <https://forum.universal-robots.com/t/force-function-without-move/8262>\
**Category:** URScript\
**Created:** [July 24, 2020, 12:28am UTC](https://forum.universal-robots.com/t/force-function-without-move/8262 "2020-07-24T00:28:51Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![christian.mackin](https://avatars.discourse-cdn.com/v4/letter/c/278dde/32.png) [@christian.mackin](https://forum.universal-robots.com/u/christian.mackin)\
**Post date:** [July 24, 2020, 12:28am UTC](https://forum.universal-robots.com/t/force-function-without-move/8262/1 "2020-07-24T00:28:51Z")

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I am looking for a solution to apply a force without commanding a simultaneous move. In other words, think of the robot applying acupressure to a given point. If the robot moves to an X,Y, Z waypoint using the new Direction Move and stops when contact is made and the action is set to apply a force of 30N in the -Z direction, we would expect it to apply that force but it does nothing unless I also make a move slightly in the -Z direction. I don’t want to have to make this fake move. I want the force to be applied at the contact point of the Direction Move.

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**Author:** ![anon75015020](https://avatars.discourse-cdn.com/v4/letter/a/ebca7d/32.png) [@anon75015020](https://forum.universal-robots.com/u/anon75015020)\
**Post date:** [July 28, 2020, 11:12am UTC](https://forum.universal-robots.com/t/force-function-without-move/8262/2 "2020-07-28T11:12:55Z")

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How could there be force without movement ? What is the problem with the move-command?  
Regards,  
Alexander

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**Author:** ![m.birkholz](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.birkholz/32/7084_2.png) [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)\
**Post date:** [July 28, 2020, 12:48pm UTC](https://forum.universal-robots.com/t/force-function-without-move/8262/3 "2020-07-28T12:48:06Z")

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Hi,

i don’t get this either. The force mode prevents the robot from getting into a safety stop when the applied force in the configured direction hits the safety threshold. In other words: the robot moves - but the axes will block and apply a raising force to the blocking direction plane.

I think what you are looking for is a nested until node - go to a waypoint with high speed until contact und go further in that direction with low speed until 30 N force is reached.