Universal Robots UR5e - Page 210

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 210 UR5e
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