In force_mode(), when type =2, will the x y z of task_frame affect robot motion

Technical Questions URScript
1

Hello, eyeryone

The script fuction, force_mode(task_frame, selection_vector, wrench, type, limits)
I doubt the x y z of task_frame have no effect in type 2, maybe also in type 3.
Is this right?

Thanks

2

It is right in my tests