[Alan Partridge]

Hi Alan,

Do you mean just replicate this behavior in the simulation environment?
If so, checking for a "collision" could be a good approach.

Jeremy

Hi Jeremy,

Thanks for the reply. I'm programming a UR10 and RoboDK has been excellent so far but I'd like to use the force mode of the UR10 and I'd like to run the program exclusively from RoboDK (that's what I've been doing up until now - i.e. I'm not transferring programs then running from the teach pendant).

The force mode seems relatively easy to use on the UR10 so I'd like to take advantage of it in RoboDK. I want to send the robot to a target but also monitor the force() function as it does so.

Many thanks,

Alan