Universal Robots UR5e - Page 208

Add Until
Description The program node Until defines stop criteria for a motion.
You can add Until nodes from Direction and Waypoint commands.
You can only add a direction node to a MoveL and MoveP.
The robot moves along a path and stops when contact is detected.
You can add multiple stop criteria to a single movement. The motion stops
when the first Until condition is met.
You can add multiple Add Until one after the other, because there can be
multiple conditions that must be met, before an action is done or executed.
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Distance
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Tool Contact: (see Directionon page213)
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Expression
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I/O Input:
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Add Action
Expression This node uses a custom program expression to stop the robot's motion.
You can also use an expression to specify a stop condition.
Stop conditions can also be specified using variables and script functions.
User Manual 208 UR5e
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