Universal Robots Forum

How to override internal force/torque readings

I’m trying to integrate external F/T sensor with UR10 robot. I know I need to first call “enable_external_ft_sensor”, but I can’t find anywhere documentation about overriding the actual force readings via RTDE. How can this be achieved? Is there any doc describing it?

Is below the topic you are looking for?

This looks exaclty what I’m looking at, but surprisingly the RTDE referenced there (external_force_torque) is not listed in the linked documentation (https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/). Is it expected, or did I miss something?

It is expected.
This is because this is a special field, that is only relevant for implementing an external FT sensor.
Why the linked topic covers how to do this, and what field name should be used.