OnRobot VGC10 User Manual page 69

Operation
F/T Zero
The F/T Zero command can be used to zero the force/torque values.
This command has no return value.
F/T Guard
Every UR commands that are put under the F/T Guard will be executed, but the robot will stop once
one of the set limits is reached. The force limiting can be mixed with an external I/O signal (e.g.: stop if
Fz>5 AND digital_in[7] == True).
NOTE:
To cancel any force/torque offset, execute an F/T Zero command at
the beginning of the F/T Guard command and make sure the tool is not
in contact with any object before starting the F/T Guard, otherwise the
command may not stop at the given force/torque limit.
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