[Jonatanlaz]

I am sending the program to the robot from robodk ("Send program to robot").
It does the movements well but the code for stops by force control does not work.
On the other hand, I modified the phyton code and I already get it to move to an incremental position with respect to another, but not with respect to the current position (which would mean in UR get_actual_tcp_pose).
Is it possible to get the current position of the robot by phyton code? If not, is there any other option?

Regards and thank you!

[Jonatanlaz]

Finally, I got to make the program in python that moves from the current position of the robot.
My last problem is that the force control does not stop when it exceeds 1.5 Newton does not work.
I've tried inserting code directly into RoboDK but I can't get it to work when running it on the UR robot.
How should I do it?
谢谢! !