# UR3e, Inspection program, Jump position

**URL:** <https://forum.universal-robots.com/t/ur3e-inspection-program-jump-position/34487>\
**Category:** URScript\
**Created:** [May 30, 2024, 6:46pm UTC](https://forum.universal-robots.com/t/ur3e-inspection-program-jump-position/34487 "2024-05-30T18:46:42Z")\
**Posts on this page:** 1\
**Showing post:** 4

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**Author:** ![laska](https://avatars.discourse-cdn.com/v4/letter/l/94ad74/32.png) [@laska](https://forum.universal-robots.com/u/laska)\
**Post date:** [May 31, 2024, 12:52pm UTC](https://forum.universal-robots.com/t/ur3e-inspection-program-jump-position/34487/4 "2024-05-31T12:52:47Z")

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Hello, I appreciate the feedback, thank you. My program does not use a camera or any other input device; it only relies on a contact tool and distance measurements. I should have clarified this when I mentioned inspection. We detect the presence of an O-ring using a contact tool: if the tool detects contact, it moves on; if not, it measures the distance to 49.5. If the distance is 49.5, it indicates that there is no O-ring, and the process moves to the next step, dropping the plug without the O-ring. From this point, the cycle restarts with the plug being picked up for another inspection, and so on.  
So how do I transition from the drop point back to the pick-up move so the program can resume by picking up the part again?

 ![program](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/0/0ad8af45b3b4386d29b2c54ec1369a072cb93854.jpeg)

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