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In force mode injection, the tool mass compensation is done by UR. The calibration procedure gives you a good estimation of total payload and CoG you should enter in TCP configuration tab and it should include the sensor masse. The sensor base mass is about 0.19 kg at which we sum the estimated payload attached to it. If this estimated payload (sensor flange + tool) is lower than sensor flange mass, the given total mass can be lower than sensor mass. This should not happen and we will fix it in a soon coming release.
Hi, @MarcAntoine_Lacasse

Currently with Force Copilot, (1.11.0) do we already have the calibration process that adds the 0.19 of the sensor?
Best Rergards