Force torque sensor error : ControllerError, code: 52

1

Dear Ufactory team,

We were using impedance control (in servo control mode) to open a fridge using our Xarm7 (XS130510D43A14) with the Ufactory 6axis Force Torque sensor (Al130203250015); After a FT sensor overload, we are now unable to use the robot in impedance control mode and are getting the error:

[SDK][ERROR][2025-08-13 21:34:23][base.py:381] - - API -> ft_sensor_app_set -> code=10, app_code=1
ControllerError, code: 52

and if we try to enable manual mode direction for the FT sensor, we get a similar error now:
image

We are however able to read the raw force data and that seems alright.

Please let us know how to fix this error.

Thanks,
Ajit

2

Hi Ajit,
Please make remove everything attached to the flange of the FT sensor, then move the robot to Zero position(all joints angles set to zero).
Then go to the “Settings-General-Debugging Tools”, choose the Raw Data of FT sensor and check for the data about 5 seconds, and post the screenshot here.
Thanks

image

3

Thanks for the quick response Daniel.

The readings in home position without any EE is attached below.

image
The force Fz does seem to be off the factory limits (of ±60 N)

Please let me know if there is a way to debug / reset the FT sensor error.

Best,
Ajit

4

Hi Ajit,
You are right, the QA standard of that FT sensor is ±60 N for Fx/Fy/Fz and ±2 N·m for Tx/Ty/Tz.
We recommend to send the FT sensor for repair.
Please copy this post link along with the SN of the FT sensor and your shipping information to support@ufactory.cc, my colleague with help with the RMA service.

5

Thanks again for the quick response Daniel.

We would like to know what caused this error, and why the sensor seems a little less robust. The sensor did not have any collisions; The only thing that happened was the sensor overloading sometime while trying to open a dishwasher / refrigerator door, after which it usually worked fine once we clear the error.

Below is what we were trying to do:
https://imgur.com/a/Kl06hbx
**Note that in the fridge video shown here, I press the emergency stop button because the robot started to shake vigorously.

We started to get this error after testing on the fridge a few times.

Please let us know if our usage is outside the intended use case of the robot. And it’d be great if there’s a way to just reset/clear this error and continue using the sensor as normal (even if the raw values are slightly off)

Thanks,
Ajit

6

Hi Ajit,
The overload range of the FT sensor is relatively small, especially in the Tx/Ty/Tz directions. Once overloaded, it may cause irreversible damage to the torque sensor. In your application, after installing the gripper, the moment arm in the Tx/Ty/Tz directions becomes longer, making the data in these three directions more prone to overload.
Is the FT sensor definitely necessary in your application?
image

7

I am having the same issue with the error code C52, i am mainly using ROS2, where it it is not displaying any errors, although the problem is occurring exactly when i try to set the sensor application to impedance or force control. All readings are normal, with and without the EE we have mounted. The robot arm is Xarm7 and i am running the latest update. So the sensor is working, it is just the impedance/Admittance control that is not working
image_2025-08-15_134712129

8

Hi,
We need check the raw data of the FT sensor, please choose the “Raw Data of 6-Axis -Torque Sensor” and then check the data and post the screen shoot here

9

Screenshot from 2025-08-19 09-26-03

i am using the DC control

10

Hi,
Thanks for the data. The QA standard of current version of FT sensor is, raw data when nothing attached to FT sensor, ±60 N for Fx/Fy/Fz and ±2 N·m for Tx/Ty/Tz.
We recommend to send the FT sensor for repair.
Please copy this post link along with the SN of the FT sensor and your shipping information to support@ufactory.cc, my colleague with help with the RMA service.