high_holding_torque_disable()

Disables automatically applying high hold torque when the robot is stationary, which is the default behavior. The UR controller automatically applies high holding torque when the following is true:

  • The program state is PROGRAM_STATE_RUNNING

  • All actual joint movement <= 0.01 rad/s

  • All target joint velocities == 0

Parameters:

None

Example command:

high_holding_torque_disable()

This function script disables the high holding torque behavior. Note that the default is restored to enabled after restarting the controller.

See also:

high_holding_torque_enable()

Applications: Disable high holding torque if you want a stationary robot to issue a protective stop when colling with an object. For example, if the robot is being transported on a linear rail or vertical lift. However, if just the base of the robot collides with an object while moving, the protective stop may not be issued. Adequate safety precautions should be put in place to guard against this situation.