OH-TouchSense is a software technology package that can be optionally installed on Universal Robots CB & e-Series. It enables a UR robot to perform component and seam detection with the welding torch via the wire or gas nozzle. With the OH-TouchSense tool, it is possible to easily compensate for component tolerances and thus ensure even safer production with the Universal Robot. The tool is a UR-Cap, you create a number of touch points for a reference component. The program is then moved to the newly calculated position. The CAP can be used as a 1D / 2D or 3D version.