Read values from Ur5e built-in force/torque sensor

Technical Questions URScript
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1

Hi there

I just get a new ur5e installed and I am interested in using the built-in force/torque sensor. I am wondering how can I read force from that internal sensor. Should I use get_tcp_force() or that sensor can only be working with copolit?

Many thanks

2

To simply read the force and torque values using get_tcp_force() should be enough. Have a look at the URScript manual for more information, it can be found in the download section.