# In force\_mode(), when type =2, will the x y z of task\_frame affect robot motion

**URL:** <https://forum.universal-robots.com/t/in-force-mode-when-type-2-will-the-x-y-z-of-task-frame-affect-robot-motion/13128>\
**Category:** URScript\
**Created:** [March 23, 2021, 9:58am UTC](https://forum.universal-robots.com/t/in-force-mode-when-type-2-will-the-x-y-z-of-task-frame-affect-robot-motion/13128 "2021-03-23T09:58:08Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![nijs255](https://avatars.discourse-cdn.com/v4/letter/n/3bc359/32.png) [@nijs255](https://forum.universal-robots.com/u/nijs255)\
**Post date:** [March 23, 2021, 9:58am UTC](https://forum.universal-robots.com/t/in-force-mode-when-type-2-will-the-x-y-z-of-task-frame-affect-robot-motion/13128/1 "2021-03-23T09:58:08Z")

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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

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<div class="post-metadata">

**Author:** ![nijs255](https://avatars.discourse-cdn.com/v4/letter/n/3bc359/32.png) [@nijs255](https://forum.universal-robots.com/u/nijs255)\
**Post date:** [July 7, 2021, 3:19am UTC](https://forum.universal-robots.com/t/in-force-mode-when-type-2-will-the-x-y-z-of-task-frame-affect-robot-motion/13128/2 "2021-07-07T03:19:56Z")

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It is right in my tests