Until; Until-Tool Contact - Universal Robots E Series Original Instructions Manual

23. Program Tab

23.11.6. Until

The program node Until defines a stop criterion for a motion. The robot moves along a path and
stops when contact is detected. In the Progran Tree, you can add Until Nodes under Direction
Nodes and Waypoint Nodes. You can add several stop criteria to a single movement. The motion
stops when the first Until condition is met.
In the Until field, you can define the following stop criteria:
• Distance This node can be used to stop a Direction move when the robot has moved a
certain distance. The velocity is ramped down so the robot stops exactly at the distance.
• Tool Contact
(see 23.11.7. Until-Tool
movement when the robot tool detects a contact.
• Expression This node can be used to stop the motion due to a custom program expression.
You can use I/Os, variables or script functions to specify the stop condition.
• I/O Input You can use this node to stop a signal controlled motion on an I/O Input.

23.11.7. Until-Tool Contact

The program node Until Tool Contact allows the robot to stop its motion when contact with the
tool is established. You can define the deceleration of the stop and the retraction of the tool.
User Manual
Contact below) You can use this node to stop a
163 UR5e