# Force mode not applying full force **URL:** \ **Category:** URScript\ **Created:** [September 23, 2020, 6:12am UTC](https://forum.universal-robots.com/t/force-mode-not-applying-full-force/8900 "2020-09-23T06:12:43Z")\ **Posts on this page:** 9\ **Page:** 1
**Author:** ![anon53720910](https://avatars.discourse-cdn.com/v4/letter/a/c57346/32.png) [@anon53720910](https://forum.universal-robots.com/u/anon53720910)\ **Post date:** [September 23, 2020, 6:12am UTC](https://forum.universal-robots.com/t/force-mode-not-applying-full-force/8900/1 "2020-09-23T06:12:43Z")
Im trying to use force mode to move into contact with an object zero\_ftsensor() force\_mode( tool\_pose, [1, 0, 0, 0, 0, 0], [10.0, 0.0, 0.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.1, 0.17, 0.17, 0.17]) My assumption is this: -The robot will be compliant in the x axis -The robot will apply 10 N in this axis -The robot will move in the tool frame -The robot will move with 0.1m/s The reality is that the robot does everything i want except apply 10 N. In fact the robot moves into contact and then seems to hover around 0.5 N and does some slight “bouncing”. I’d excpect some bouncing at the full force, but while the force is still so low i would expect the force to slowly rise to the desired value. What am I doing wrong? ---
**Author:** ![anon25119558](https://avatars.discourse-cdn.com/v4/letter/a/f19dbf/32.png) [@anon25119558](https://forum.universal-robots.com/u/anon25119558)\ **Post date:** [September 30, 2020, 3:35am UTC](https://forum.universal-robots.com/t/force-mode-not-applying-full-force/8900/2 "2020-09-30T03:35:08Z")
hi , I always try to find some ways to zero the ftsensor, could I ask the command ‘zero\_ftsensor’ is ran in the teaching pendant or in your own program? ---
**Author:** ![anon53720910](https://avatars.discourse-cdn.com/v4/letter/a/c57346/32.png) [@anon53720910](https://forum.universal-robots.com/u/anon53720910)\ **Post date:** [September 30, 2020, 6:05am UTC](https://forum.universal-robots.com/t/force-mode-not-applying-full-force/8900/3 "2020-09-30T06:05:52Z")
Hi, the call to zero\_ftsensor is performed in the script shortly before activating force mode ---
**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:** [September 30, 2020, 11:54am UTC](https://forum.universal-robots.com/t/force-mode-not-applying-full-force/8900/4 "2020-09-30T11:54:22Z")
Hi @anon53720910, About your assumptions. I would only expect one of these depending if the is something to apply the normal force. -The robot will apply 10 N in this axis -The robot will move with 0.1m/s How are you evaluating the force? If you are using _get\_tcp\_force()_ please notice that the returned value is in the base frame, that might not be aligned with your tool frame. ---
**Author:** ![anon82402338](https://avatars.discourse-cdn.com/v4/letter/a/e68b1a/32.png) [@anon82402338](https://forum.universal-robots.com/u/anon82402338)\ **Post date:** [September 30, 2020, 1:56pm UTC](https://forum.universal-robots.com/t/force-mode-not-applying-full-force/8900/5 "2020-09-30T13:56:11Z")
Hi Ebbe, What is the recommended way to evaluate the actual force? It sure would be useful to see all of the forces at each joint while the program is running. I think the Move screen showing the robot path would be an awesome place… ---
**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:** [October 4, 2020, 4:39am UTC](https://forum.universal-robots.com/t/force-mode-not-applying-full-force/8900/6 "2020-10-04T04:39:56Z")
Hi @anon82402338 For self evaluation _get\_tcp\_force()_ is a fine choice. You might take a look in [this article](https://www.universal-robots.com/articles/ur/get-force-and-torque-values-in-tool-coordinate-system/) if you would like to have the force in the tool frame. If you add a thread to your robot program and assign a _global_ variable with the value. You will be able to monitor the force in the Variable view. Ebbe ---
**Author:** ![anon53720910](https://avatars.discourse-cdn.com/v4/letter/a/c57346/32.png) [@anon53720910](https://forum.universal-robots.com/u/anon53720910)\ **Post date:** [October 5, 2020, 10:52am UTC](https://forum.universal-robots.com/t/force-mode-not-applying-full-force/8900/7 "2020-10-05T10:52:39Z")
They way I understood the command the Robot should move with MAX 0.1m/s into a force of 10N. Is that incorrect? ---
**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:** [October 15, 2020, 6:51am UTC](https://forum.universal-robots.com/t/force-mode-not-applying-full-force/8900/8 "2020-10-15T06:51:00Z")
If the robot reach 0.1m/s without any external force is applied to it. The force will in this case be 0N and the 10N will not be reached. So the 10N is depending on if there is something to create a normal force. If there is a rigid fixed object that the robot hit, the robot will apply 10N but will not reach the 0.1m/s. ---
**Author:** ![anon82402338](https://avatars.discourse-cdn.com/v4/letter/a/e68b1a/32.png) [@anon82402338](https://forum.universal-robots.com/u/anon82402338)\ **Post date:** [December 25, 2020, 2:25pm UTC](https://forum.universal-robots.com/t/force-mode-not-applying-full-force/8900/9 "2020-12-25T14:25:24Z")
Are you updating the COG or Payload in any threads? We had a thread to update COG and Payload based on gripper state, that continuous writing caused the force mode to not function.