# Force mode to Protective Stop **URL:** \ **Category:** General Application Help: How do I?\ **Created:** [July 29, 2021, 10:45am UTC](https://forum.universal-robots.com/t/force-mode-to-protective-stop/15664 "2021-07-29T10:45:20Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![anon76421097](https://avatars.discourse-cdn.com/v4/letter/a/ba8739/32.png) [@anon76421097](https://forum.universal-robots.com/u/anon76421097)\ **Post date:** [July 29, 2021, 10:45am UTC](https://forum.universal-robots.com/t/force-mode-to-protective-stop/15664/1 "2021-07-29T10:45:20Z")
Hi all, I am working on an application in which the robot has to press the plastic band that is mounted on the car door … the robot presses at a fixed point while the car is advancing. I have to deal with a situation that may arise: the robot to leave the pressing area and reach the space between the wheel and the body, so I set the condition that as if the robot advances in the direction of pressing (z axis) more than a certain value, to withdraw immediately but with this condition a new situation appeared, namely PROTECTIVE STOPS almost every time the robot has to withdraw. That’s why I tried several possible solutions: I tried to use force mode in force mode, the first with the value 0 and the second with the required value, but I was not successful (protective stops) I tried to put a condition in which if the force becomes 0 on z to retire but I was not successful. Can you suggest me a possible solution to succeed in getting out of force without instantly entering Protective Stop ??? ---
**Author:** ![anon507564](https://avatars.discourse-cdn.com/v4/letter/a/e480ec/32.png) [@anon507564](https://forum.universal-robots.com/u/anon507564)\ **Post date:** [July 29, 2021, 2:24pm UTC](https://forum.universal-robots.com/t/force-mode-to-protective-stop/15664/2 "2021-07-29T14:24:31Z")
Sounds like you may have the acceleration and/or speed set too high when it withdraws. Are you coding this manually or using Direction nodes in Polyscope?