What is contact detection and how to use it

Here the the contact detection principle : 

When to use contact detection : 

-rounded boxes / trapeze boxes

-tight patterns need

impacts : 

- cycle time a bit reduced

How to use it : 

• the Approach distance to ensure that when doing the approach, you are not already in contact with boxes
• Tick wait until the sensor is steady to have a good force measurement and prevent P-stops. Draw back you will lose a bit of cycle time
• force threshold XY 55N
• For heavy boxes i recommand to drop box when in contatc with the layer therefore i recommadn to add Z overhsoot to ensure contact

here a settings example