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 Sta-
cking/Destacking, where Until Tool Contact determines the height of sta-
cked objects.
255
82. Add Until
Manual de usuario
