# Some doubts about URScript: get\_tcp\_foce

**URL:** <https://forum.universal-robots.com/t/some-doubts-about-urscript-get-tcp-foce/4481>\
**Category:** URScript\
**Created:** [June 10, 2019, 12:51pm UTC](https://forum.universal-robots.com/t/some-doubts-about-urscript-get-tcp-foce/4481 "2019-06-10T12:51:12Z")\
**Posts on this page:** 1\
**Showing post:** 6

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**Author:** ![mmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mmi/32/691_2.png) [@mmi](https://forum.universal-robots.com/u/mmi)\
**Post date:** [June 20, 2019, 9:07am UTC](https://forum.universal-robots.com/t/some-doubts-about-urscript-get-tcp-foce/4481/6 "2019-06-20T09:07:08Z")

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You’re completely right, my mistake. On CB3 you have to zero force offset yourself.  
There is also [description](https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/get-force-and-torque-values-in-tool-coordinate-system-44911/) how to convert actual\_tcp\_force to make it relative to tcp position, instead of base.

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