# UR-5E Internal FT Sensor Shows Force After Force Removed

**URL:** https://forum.universal-robots.com/t/ur-5e-internal-ft-sensor-shows-force-after-force-removed/23128
**Category:** Technical Questions
**Created:** [August 5, 2022, 3:39pm UTC](https://forum.universal-robots.com/t/ur-5e-internal-ft-sensor-shows-force-after-force-removed/23128 "2022-08-05T15:39:23Z")
**Posts on this page:** 5
**Page:** 1

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### Author: ![anon81556826](https://avatars.discourse-cdn.com/v4/letter/a/a587f6/32.png) [@anon81556826](https://forum.universal-robots.com/u/anon81556826)
#### Post date: [August 5, 2022, 3:39pm UTC](https://forum.universal-robots.com/t/ur-5e-internal-ft-sensor-shows-force-after-force-removed/23128/1 "2022-08-05T15:39:23Z")

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I have a UR5e and am using the FT sensor in my application. It works very well, but runs into problems. Here is an example:

I am moving to waypoint until I see a force of 20 in the z direction. The movement stops and then I move on to the next step of the program where I will use the force in the z direction again, but it is still reading 20. It doesn’t update when no force is there, and I would expect a near zero value.

The problem goes away somehow, but I don’t know how. I do not see a “zero\_ftsensor()” function in my software. How do I zero or tare between steps? Is zeroing the correct idea here?

I run the get tcp force function in a thread, write the values to x\_force, y\_force and z\_force variables. and use them throughout the application.

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### Author: ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)
#### Post date: [August 5, 2022, 5:17pm UTC](https://forum.universal-robots.com/t/ur-5e-internal-ft-sensor-shows-force-after-force-removed/23128/2 "2022-08-05T17:17:58Z")

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Yes use the zero\_ftsensor() command any time before calling an experession until force() \> X

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### Author: ![anon81556826](https://avatars.discourse-cdn.com/v4/letter/a/a587f6/32.png) [@anon81556826](https://forum.universal-robots.com/u/anon81556826)
#### Post date: [August 5, 2022, 5:58pm UTC](https://forum.universal-robots.com/t/ur-5e-internal-ft-sensor-shows-force-after-force-removed/23128/3 "2022-08-05T17:58:31Z")

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Thanks for the reply. I don’t see that function in my dropdown list.

Hopefully I am just missing it. Can you please be a little more specific on how to implement it?

I tried adding a script to my program then searching the function dropdown menu.

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### Author: ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)
#### Post date: [August 5, 2022, 6:20pm UTC](https://forum.universal-robots.com/t/ur-5e-internal-ft-sensor-shows-force-after-force-removed/23128/4 "2022-08-05T18:20:45Z")

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You can just type it in manually with the on-screen keyboard.

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/8/85fa81dc4b4180591a7d6b489216b8568eef768f.png)

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### Author: ![anon81556826](https://avatars.discourse-cdn.com/v4/letter/a/a587f6/32.png) [@anon81556826](https://forum.universal-robots.com/u/anon81556826)
#### Post date: [August 5, 2022, 6:45pm UTC](https://forum.universal-robots.com/t/ur-5e-internal-ft-sensor-shows-force-after-force-removed/23128/5 "2022-08-05T18:45:06Z")

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thanks, Eric. That worked. I must have typed it wrong or had a wrong syntax the first time I tried to manually enter it. It seems to be running and working now.