# Problem when using force mode

**URL:** <https://forum.universal-robots.com/t/problem-when-using-force-mode/25944>\
**Category:** URScript\
**Created:** [January 4, 2023, 5:43am UTC](https://forum.universal-robots.com/t/problem-when-using-force-mode/25944 "2023-01-04T05:43:14Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![jiongwei.lu](https://avatars.discourse-cdn.com/v4/letter/j/ccd318/32.png) [@jiongwei.lu](https://forum.universal-robots.com/u/jiongwei.lu)\
**Post date:** [January 4, 2023, 5:43am UTC](https://forum.universal-robots.com/t/problem-when-using-force-mode/25944/1 "2023-01-04T05:43:14Z")

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I’m using a UR10 robot with the external FT sensor to activate force mode and the Polyscope version is 3.15.7.  
When I write an URScript as follow and send it to robot port 30001 by socket. Nothing happens:  
''def svt():  
movel(p[0.65506,0.63983,0.18197,2.752,1.523,-0.096],a=0.6,v=0.05,t=0,r=0)  
force\_mode(tool\_pose(), [0, 0, 1, 0, 0, 0], [0.0, 0.0, 30.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.15, 0.17, 0.17, 0.17])  
movel(p[0.63426,-0.30823,0.18010,2.784,1.451,-0.045],a=0.6,v=0.05,t=0,r=0)  
end\_force\_mode()  
stopl(5.0)  
end

‘’’  
But when I delete the line ‘end\_force\_mode()’, the robot starts to run the program. I’ve also tried the demo in [Universal Robots - URScript: Dynamic Force Control](https://www.universal-robots.com/articles/ur/programming/urscript-dynamic-force-control/) ,where occurred the same problem: the robot can’t run the program when the line ‘end\_force\_mode()’ is not deleted.

I wonder why the robot seems not to understand this function and how can I disactivate the force mode in an URScript program.