# No zero\_ftsensor() script function **URL:** \ **Category:** Technical Questions\ **Created:** [January 26, 2022, 1:38pm UTC](https://forum.universal-robots.com/t/no-zero-ftsensor-script-function/18901 "2022-01-26T13:38:33Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![anon38640316](https://avatars.discourse-cdn.com/v4/letter/a/c0e974/32.png) [@anon38640316](https://forum.universal-robots.com/u/anon38640316)\ **Post date:** [January 26, 2022, 1:38pm UTC](https://forum.universal-robots.com/t/no-zero-ftsensor-script-function/18901/1 "2022-01-26T13:38:33Z")
Hello everyone, I am trying to get some good readings from the F/T sensor of the UR3e, to do so I was advised to call the _zero\_ftsensor()_ script function. However, I can’t see to find this function under the _scripts_ tab of the teach panel. I am running the latest software version (5.11.8). Am I missing something? Thanks in advance. ---
**Author:** ![dpeva](https://avatars.discourse-cdn.com/v4/letter/d/b5ac83/32.png) [@dpeva](https://forum.universal-robots.com/u/dpeva)\ **Post date:** [January 26, 2022, 1:56pm UTC](https://forum.universal-robots.com/t/no-zero-ftsensor-script-function/18901/2 "2022-01-26T13:56:38Z")
You can just type it in within a script node. Here’s the description from the URScript manual: \*\* 16.1.63. zero\_ftsensor()\*\* \*\* Zeroes the TCP force/torque measurement from the builtin force/torque sensor by subtracting the\*\* \*\* current measurement from the subsequent.\*\* \*\* Note: Function only applicable in G5\*\* \*\* e-Series 110 Script Manual\*\* There’s no example,and I haven’t done any messing around with this feature, so I’m not sure exactly how/where it’s used. ---
**Author:** ![anon38640316](https://avatars.discourse-cdn.com/v4/letter/a/c0e974/32.png) [@anon38640316](https://forum.universal-robots.com/u/anon38640316)\ **Post date:** [January 26, 2022, 5:27pm UTC](https://forum.universal-robots.com/t/no-zero-ftsensor-script-function/18901/3 "2022-01-26T17:27:45Z")
Thanks for the reply. Unfortunately this does not have an effect. Another thing that got me curious was the wide range of sensor values. With no load attached, they return +/- 5 N, and increase even when applying force to the elbow. This got me thinking that the FT sensor in the tool flange is not delivering the force, but rather it is calculated using the joint currents. I hope i made my problem clear and appreciate any help. ---
**Author:** ![bba](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/bba/32/555_2.png) [@bba](https://forum.universal-robots.com/u/bba)\ **Post date:** [January 26, 2022, 7:27pm UTC](https://forum.universal-robots.com/t/no-zero-ftsensor-script-function/18901/4 "2022-01-26T19:27:02Z")
Hi, It might depend on how you are reading the F/T sensor values. If you are using the force() script command it is returning the scalar forces at the TCP (summation of all forces). If you are using get\_tcp\_force() it returns a 6 element vector, showing X/Y/Z, etc forces. The force() command is going to be more noisy and higher magnitude. It might help to average the forces using a thread to get rid of the noise. If none of the above helps then it might be that you have an uncalibrated F/T sensor. Does this problem become more apparent when you rotate wrist 3 while taking readings? IF it does then this is a sign of an uncalibrated F/T sensor. Contact UR service and see what their advice is. ---
**Author:** ![anon38640316](https://avatars.discourse-cdn.com/v4/letter/a/c0e974/32.png) [@anon38640316](https://forum.universal-robots.com/u/anon38640316)\ **Post date:** [January 27, 2022, 8:52am UTC](https://forum.universal-robots.com/t/no-zero-ftsensor-script-function/18901/5 "2022-01-27T08:52:48Z")
Hello, I am using the get\_tcp\_force() script function in order to get readings for all axes. Rotating the wrist delivers an even wider range of measurements. Thanks for your help, I am going to contact UR service.