DoF - a Robotiq Community
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@matthewd92  and @jelms , thank you. I have got two more questions:
1. I am using FT300 and TCP/IP Communication data stream socket 30003 to collect TCP force data. Data pertaining to the former ranges btw -20+20 and for the latter it ranges btw -600+600. I should say I just lay my right hand on the fixture kept by the gripper at the endeffector. That being said, outcome pertaining to FT300 makes much more sense given the Newton as the force unit. What about the data collected from socket 30003 ?

2. Again using socket 30003 , I have collected the joint current. In order to convert that to actual torque I need the Kt associated with the UR5. How can I find the Kt?