# Ur5e空载时通过/wrench的topic获取的force数据随着时间越来越大

**URL:** <https://forum.universal-robots.com/t/ur5e-wrench-topic-force/20316>\
**Category:** 其他\
**Created:** [April 2, 2022, 2:52am UTC](https://forum.universal-robots.com/t/ur5e-wrench-topic-force/20316 "2022-04-02T02:52:40Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon22804838](https://avatars.discourse-cdn.com/v4/letter/a/f4b2a3/32.png) [@anon22804838](https://forum.universal-robots.com/u/anon22804838)\
**Post date:** [April 2, 2022, 2:52am UTC](https://forum.universal-robots.com/t/ur5e-wrench-topic-force/20316/1 "2022-04-02T02:52:40Z")

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ur5e空载时通过/wrench的topic获取的force数据随着时间越来越大（甚至达到-20N），这样的数据根本没法用在力控中，误差太大了。请问有什么解决办法吗？

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**Author:** ![sya](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sya/32/216_2.png) [@sya](https://forum.universal-robots.com/u/sya)\
**Post date:** [April 9, 2022, 5:02pm UTC](https://forum.universal-robots.com/t/ur5e-wrench-topic-force/20316/2 "2022-04-09T17:02:22Z")

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Hi,

如果是Robot空载时senosr数值无法归零, 请使用script指令zero\_ftsensor()进行归零

如果是sensor数值重现性不佳, 会随着时间数值飘移, 请联络当地UR技术窗口进行torque sensor保固/维修流程

Thanks