Coordinate system: The coordinate system used both for the movement and for the sensor
reading. It can be set to Base or Tool (according to the UR’s reference frames).
F/T Limit: This is the detection limit. From the Fx, Fy, Fz, Tx, Ty, Tz, F3D, T3D available options
more than one can be set. In this case, if any of those values reached the set threshold the
stop is triggered. The values equal to zero are neglected.
If the Absolute option is enabled, then it is not important whether the entered value is
positive or negative (e.g.: stop if |Fz| > = 3), otherwise the sign
defines how the threshold is
calculated (e.g..: stop if Fz > = 3 or stop if Fz <= -3)
Show advanced options: If enabled then more options become available:
OPERATION
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