# Shearing Sand Along X Axis, PID to control z?

**URL:** <https://forum.universal-robots.com/t/shearing-sand-along-x-axis-pid-to-control-z/35642>\
**Category:** URScript\
**Created:** [August 12, 2024, 6:27pm UTC](https://forum.universal-robots.com/t/shearing-sand-along-x-axis-pid-to-control-z/35642 "2024-08-12T18:27:45Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![eduardo.j.bidotlopez](https://avatars.discourse-cdn.com/v4/letter/e/a3d4f5/32.png) [@eduardo.j.bidotlopez](https://forum.universal-robots.com/u/eduardo.j.bidotlopez)\
**Post date:** [August 12, 2024, 6:27pm UTC](https://forum.universal-robots.com/t/shearing-sand-along-x-axis-pid-to-control-z/35642/1 "2024-08-12T18:27:45Z")

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Is there anyway to control the UR10 arm to shear sand along the x axis while correcting its z and y position so it is relatively in the same place with a consistent z force? I have tried using the force mode in combination with the servoj feature. The force feature doesn’t seem to work very well so I am looking for other ways to navigate this.