I would like to share with you a solution to trigger TM robot safety stop when a force or torque superior the your safety limit is detected by the FT300.The TM project file is attached to this post.Here below is the main program of the project with a description:I use the TouchStop node to make FT300 zero.I set the digital Output 0 DO0 to Low. I connected to DO0 a relais which open safety A contact if DO0 is high. If DO0 is low the robot operate normally, if DO0 is high the robot pause. I would also have connected the relais to estop connection to get a complete protective stop.I set the variable floatZForce egale to the Z force of the FT300. I was first time for me to retrieve to force of the FT300 in a variable, I was surprise to see that it is very simple to do.I display the variable floatZForce which hold the FT300 force value.I way 0.5sI look to the node 2 and redo the procedure.In short, this program is just updating a variable with the Z force and display it on the screen. The robot is not moving.Here below is the thread 1 with a description:I wait 2s. This is for the main program to have time to make the zero of the FT300. 2s is probably more than needed.I make a if condition which check the Z force of the FT300. If the absolute value of the Z force is more than a limit (here 10N) I set DO0 to high. If the absolute value of the Z force remain under the limit I set DO0 to low.I wait for 0.5s. This is just to lower the frequency of the safety check.I to the node 2 and redo the force check procedure.In short this program is monitoring the Z force and trigger the safety robot pause if the force goes over the limit.Here below is the description of the connection of DO0, relay and safety A of the controller.