Get the robot force aplied to do movements

Technical Questions URScript
1

Hello, I need to get the force to apply to the robot when doing a movement.
I used “get_tcp_force()”, but it gives tool forces.
Is there some way to calculate these values?

Thanks.

2

You mean like you’d like to just get a single value back, say newtons of force? If so, the force() command might be what you’re after.

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Just be sure to take note of the Note at the bottom there. If you don’t call “zero_ftsensor()” before using force(), you may get a junk return value as the force sensor can accumulate error. Always best to tare it before taking a measurement.