Universal Robots Forum

Use 16e to apply a force greater than 120N and perpendicular to gravity direction

Hello, everyone

In my application, the robot needs to apply a force greater than 120N to push a workpiece to certain position slowly.
In this case, protective stop will happen because of position deviation.The force is almost perpendicular to gravity so
I don’t think it can be solved by change payload. Is there any way to make the robot work normally ignoring position deviation?

Thanks in advance for help