# RealTime Interface TCP Force

**URL:** <https://forum.universal-robots.com/t/realtime-interface-tcp-force/27797>\
**Category:** Robot Communication\
**Created:** [April 5, 2023, 10:56am UTC](https://forum.universal-robots.com/t/realtime-interface-tcp-force/27797 "2023-04-05T10:56:56Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anon18254524](https://avatars.discourse-cdn.com/v4/letter/a/5e9695/32.png) [@anon18254524](https://forum.universal-robots.com/u/anon18254524)\
**Post date:** [April 5, 2023, 10:56am UTC](https://forum.universal-robots.com/t/realtime-interface-tcp-force/27797/1 "2023-04-05T10:56:56Z")

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Hello!

I am currently working on a force control with a UR10/CB3. I know that this robot does not have an integrated force/torque sensor and therefore the accuracy is limited to +/- 10N, as on the [dynamic force control](https://www.universal-robots.com/articles/ur/programming/urscript-dynamic-force-control/) page. Nevertheless, I would like to verify this information with my own reference measurements. To evaluate the estimated force at the TCP I use MATLAB and communicate via the TCP/IP connection. On the page [Remote Control via TCP/IP](https://www.universal-robots.com/articles/ur/interface-communication/remote-control-via-tcpip/) it is described in the document “Client\_Interfaces\_1.1.3.xlsx” for Polyscope version 3.7 that the “TCP Force” is received via the interface. In the notes it says “Generalised forces in the TCP”. I would like to know what exactly is meant by this. Is this the force in the TCP in the base frame or in the tool frame? Unfortunately I can’t find a concrete answer in the forum, [here](https://forum.universal-robots.com/t/rtde-force-output/2335) the topic is touched upon, but not finally clarified.

Thanks in advance!