Error in xArm-Python-SDK/example/wrapper/common /8001 , 8002, 8003. A function, set_ft_sensor_mode(mode) always return error. error code:10

[Kotaro-Kajitsuka-a]

Hello.

I execute
python ./example/wrapper/common/8002-admittance_control.py 192.168.1.244

this command, and it always return below message.

[SDK][ERROR][2026-01-09 16:09:26][base.py:423] - - API -> set_ft_sensor_mode -> code=10, app_code=1

I tryed to deal with this issue like below.
・I updated firmware version with UFactory Studio。
・I'm using the most recent versoin of xArm-Python-SDK.
・I did payload offset identification of UFactory Studio and 8004 script (I added set_ft_sensor_load_offset line after indentification in 8004 just in case)

Thank you for reading my issue.

[Kotaro-Kajitsuka-a]

The 8004 script also return
[SDK][ERROR][2026-01-09 16:09:26][base.py:423] - - API -> set_ft_sensor_mode -> code=10, app_code=0

This might be most simple and insightful error. Thank you in advance for your suport.

[penglongxiang]

Hi, the returned code is strange. Could you download the log package via UFACTORY Studio (can be accessed through web browser at port 18333), download step: click Settings (gear logo) -> My Device -> log -> press download button on the right panel.

If download successfully, please send it to support@ufactory.cc for us to analyze, you can send as attachment or by google drive link. Thank you.

[MinnaZhong]

Hi, @Kotaro-Kajitsuka-a, please make sure only torque sensor is installed at the end, and remove the other end effectors, then move the arm to zero position(all joints angles set to zero).

Go to the “Settings-General-Debugging Tools”, choose the Raw Data of FT sensor, choose All Direction, and check for the data about 5 seconds, and post the screenshot here.

[Kotaro-Kajitsuka-a]

Hi, @MinnaZhong

Sorry for my late reply and thank you for your help. here is the screenshot of Raw data from 6-Axis sensor.

just in case, below one is the filtered data.

[MinnaZhong]

Hi @Kotaro-Kajitsuka-a ,

The sensor appears to be damaged. Normally, Fz should not exceed 60N at the zero position. Has the sensor been collided or dropped?

I received your email. I will contact you for the after-sales process. Thank you.

[Kotaro-Kajitsuka-a]

Hello, @MinnaZhong

Thank you for your reply.

Is it broken? I didn't see the sensor was dropped or collide, but I used the collision_sensitivity(1) and sometimes xarm7's EEF pushed the table strongly enough to exceed the auto-stop threshhold. Was that too much for the sensor?

And so, admittance control and force control use Raw data, not Filterd Data?

Thank you

[penglongxiang]

@Kotaro-Kajitsuka-a, if after collision the raw data stays at high value and not recoverable, it usually means the internal micro structure is damaged and parameters has changed, it is not recommended for further usage since the accuracy and linearity will degrade significantly. So we will report error if this situation is detected.