# Linear Force Command Issue

**URL:** <https://forum.universal-robots.com/t/linear-force-command-issue/40029>\
**Category:** Technical Questions\
**Created:** [May 29, 2025, 2:06pm UTC](https://forum.universal-robots.com/t/linear-force-command-issue/40029 "2025-05-29T14:06:22Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![jkeilman](https://avatars.discourse-cdn.com/v4/letter/j/91b2a8/32.png) [@jkeilman](https://forum.universal-robots.com/u/jkeilman)\
**Post date:** [May 29, 2025, 2:06pm UTC](https://forum.universal-robots.com/t/linear-force-command-issue/40029/1 "2025-05-29T14:06:22Z")

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I am trying to setup a Linear Force Command, until contact in my program to seat a part up against a stop. I have my command setup just like this, using the Base as the feature and 10.0N for force.

Regardless of which direction I tell the robot to move, it seems that the robot only wants to move in Z+ direction or Z- direction force value is positive or negative.

I have tried to set it up so that I tell it to move in the Z direction and stop after 2 inches, but I can’t get it to do that either. It just keeps moving.

I have RobotIQ grippers and CoPilot. Lastest released of the URCaps (3.29 and 3.27) and Polyscope 5.21.3

Any help is greatly appreciated.

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/1/102d8b10a84bfe8c606ac01d720de77e56a5dbcf.png)

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**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [May 29, 2025, 2:17pm UTC](https://forum.universal-robots.com/t/linear-force-command-issue/40029/2 "2025-05-29T14:17:21Z")

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I think if you switch from Simple to “Frame” in the dropdown you can select which axis of the feature you want the force applied in.

That said, I often find it easier to just work with a normal Direction Until node, and use force() as the condition:

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/5/50c169faee8e1f7aece097b9c840799d25777b23.png)

Just be sure to include a script command of “zero\_ftsensor()” with a short wait after to ensure the sensor reads 0 prior to performing the move.

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<div class="post-metadata">

**Author:** ![jkeilman](https://avatars.discourse-cdn.com/v4/letter/j/91b2a8/32.png) [@jkeilman](https://forum.universal-robots.com/u/jkeilman)\
**Post date:** [May 29, 2025, 2:28pm UTC](https://forum.universal-robots.com/t/linear-force-command-issue/40029/3 "2025-05-29T14:28:17Z")

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Thank you for the information. That seems to work better for sure.

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**Author:** ![charlesrhoward](https://avatars.discourse-cdn.com/v4/letter/c/c77e96/32.png) [@charlesrhoward](https://forum.universal-robots.com/u/charlesrhoward)\
**Post date:** [May 30, 2025, 6:56am UTC](https://forum.universal-robots.com/t/linear-force-command-issue/40029/4 "2025-05-30T06:56:42Z")

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Sounds like you’ve set things up correctly, but it’s odd that the robot only moves along the Z-axis. I’ve had similar issues when the feature frame or direction vector wasn’t set properly — maybe double-check that the force direction is actually aligned with Base X and not still pointing in Z?

Also, make sure you’re not mixing up Force Mode and MoveL — they behave very differently. The “Until contact” condition might also need fine-tuning in CoPilot settings.