Universal Robots UR3e

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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.

UR3e 216 User Manual

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