TCP force data

    Is there a way to read/display the force data in the HMI


    I have tried with the get_tcp_force() data and the data does not display.


    Request support on this topic

    Yes there is!


    I am not sure what you have tried so far with that function, but here is a link to a UR support article on that topic in which it gives an example of getting the TCP force in the Base frame and also converting it to Tool Frame.


    https://www.universal-robots.c…n-tool-coordinate-system/


    Alternatively, if you setup an Ethernet/IP connection between the robot and a PLC, you could see that force information through the PLC and display it on an HMI that way. I attached a snippet of some of the information that my PLC can see from the robot which includes TCP Force.


    Ethernet IP offers tons of information from the robot including, joint position, Digital I/O monitoring, Safety bits, etc. If you are interested in setting up Ethernet IP, reference Universal's other article:


    https://www.universal-robots.c…les/ur/ethernet-ip-guide/

    I did try the method for the Base Frame to Tool Frame Conversion for getting the forces but it displays the result only for one point it does'nt do so for the complete program.

    I need to explore the PLC option as currently there is no PLC connected to the controller.

    Thank you:smiling_face::smiling_face:

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