Deprecated:

This function is used for enabling and disabling the use of external F/T measurements in the controller. Be aware that the following function is impacted:

• force_mode
• screw_driving
• freedrive_mode

The RTDE interface shall be used for feeding F/T measurements into the real-time control loop of the robot using input variable external_force_torque of type VECTOR6D. If no other RTDE watchdog has been configured (using script function rtde_set_watchdog), a default watchdog will be set to a 10Hz minimum update frequency when the external F/T sensor functionality is enabled. If the update frequency is not met the robot program will pause.

Parameters

enable: enable or disable feature (bool)

sensor_mass: mass of the sensor in kilograms (float)

sensor_measuring_offset: [x, y, z] measuring offset of the sensor in meters relative to the tool flange frame

sensor_cog: [x, y, z] center of gravity of the sensor in meters relative to the tool flange frame

Deprecated

When using this function, the sensor position is applied such that the resulting torques are computed with opposite sign. New programs should use ft_rtde_input_enable in place of this.

Notes:

• The TCP Configuration in the installation must also include the weight and offset contribution of the sensor.
• Only the enable parameter is required, sensor mass, offset and center of gravity are optional (zero if not provided).

Example command: Please refer to ft_rtde_input_enable for some examples of usage