Universal Robots UR16e

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Add a Until tool

contact to a robot

program

1. When you have added the Until command, tap the

CAUTION

The default speed of motion is too high for contact

detection. A faster speed of motion triggers a robot stop,

before the Tool Contact condition can take effect. To avoid

triggering a robot stop, lower the speed of motion. For

example: 100m/s.

NOTICE

Until Tool Contact might not work if the mounted tool

vibrates. For example: a vaccuum gripper with an

embedded pump can introduce fast vibrations.

Detail Use the Retract to Contact setting for the robot to return to the initial point

of contact. You can set an additional reverse movement to make the robot

move free of, or toward, contact. This is useful if you have a gripper that

needs free space to move, or if a clamping action is needed.

I/O Input This node uses an I/Oinput to stop a signal controlled motion.

You can also use an I/Oinput to specify a stop condition.

UR16e 218 User Manual

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