Setting Wait DI for UR10e Based on TCP Force

[WiesenDX]

Hi guys, what I'm trying to do is let TCP descend and fit onto a plane in force mode, and stop force mode after feeling a certain amount of force from TCP.
I'm looking for the script manual and figure out how to enter and end force mode. I also find the code to get force on TCP, but I don't know how to let it return a digital output when force on TCP reach a certain amount so I can set a wait DI.
Attaching the code for getting force on TCP.
I think maybe this is a very generic question for all robots, looking forward your help!
Thank you guys!

[visose]

Hi @WiesenDX, for UR specific questions that are unrelated to this plugin you might have more luck asking on a UR robots forum.