Hi Pros,

for an Application I want to use the Force Control out of an Script code.

I want to use it there so i can call it without a Subprogramm and maybe change the parameters during the Programm.

But i can`t find the Code for that.

 What i found so far:

      rq_ft_sensor_disconnected_check()
      node_rpc_server.movejdefinewaypoint(1, get_actual_joint_positions(), 1.0, 1.0)
      node_rpc_server.setparentid(1, 2)
      initialise_execution_node()
      node_execution_thread = run execute_node_thread()
      active_and_reset_node(2)
      execute_node(1)

but it doesn´t work because of XML-Problems.

I also don`t see were i can put in the different Forces,Stiffnesses and deviation Ranges.

Do anybody know the Code for this Application?