universal robots UR20 Benutzerhandbuch Seite 261

Tool Contact
Example
UR20
This node allows the robot to stop motion when contact with the tool is esta-
blished.
You can use this node to stop a movement when the robot tool detects a
contact.
You can also define the deceleration of the stop and the retraction of the
tool.
You can use the Until Tool Contact Node for applications like Stacking/De-
stacking, where Until Tool Contact determines the height of stacked
objects.
261
82. Add Until
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