Universal Robots UR3e

Tool Contact This node allows the robot to stop motion when contact with the tool is established.
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.
Example You can use the Until Tool Contact Node for applications like Stacking/Destacking,
where Until Tool Contact determines the height of stacked objects.
User Manual 215 UR3e
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