# How to detect a colision and NOT get a safety stop

**URL:** <https://forum.universal-robots.com/t/how-to-detect-a-colision-and-not-get-a-safety-stop/20272>\
**Category:** General Application Help: How do I?\
**Created:** [March 31, 2022, 6:18am UTC](https://forum.universal-robots.com/t/how-to-detect-a-colision-and-not-get-a-safety-stop/20272 "2022-03-31T06:18:13Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![kadams](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/kadams/32/4024_2.png) [@kadams](https://forum.universal-robots.com/u/kadams)\
**Post date:** [March 31, 2022, 6:18am UTC](https://forum.universal-robots.com/t/how-to-detect-a-colision-and-not-get-a-safety-stop/20272/1 "2022-03-31T06:18:13Z")

</div>

Good morning,

i have a problem that i don´t understand:

I´ve implemented a IF case in a threat to see the max force value.  
i can see that the Force goes up until 70N (while running without a crash).

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/3/315204eb6541f6872f3ee11266308565b29ebd6d.png)

What i say (here at the pick position), is that if now my force is above 80, the Robot should move back to its Prepick-  
Position (Pick\_Vorpos). So i have put a metal plate above my bottles to see that error. Idky but the Robot goes into a safety stop and the Force value goes up to 180n!

With that stop condition (where i compare the force \>80) would prevent me from getting into a safety stop.  
Do u know why the Robot will go into a safety stop?

The Payload i set via Subroutine:  
Since they have used vales where I´m not allowed to keep them powerized all the time, i have to use single pulses:

![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/5/5604d9ca4a641495c6e97c16bac6d1967074968e.png)

Greifer schließen (Close Gripper). Here i set payload to gripper holding

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/b/b5f698ec18b2dd19d92fc162e3de45008683dbf7.png)

For Greifer\_öffnen (Open Gripper):

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/e/ed4a4be3474c61cfc2f6188c5400ed518ae3f7c7.png)

You got any idea why the Robot will go to the safety stop?

The safety settings are still the “default” values:

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/b/b1657b912d3d531dc7306e176c0cb2fc3d3e6126.png)

Kind regards from Luxembourg