OH-ArcSense is a software technology package that can be optionally installed on Universal Robots e-Series. It enables the UR robot to weld along a contour and compensate for errors by means of oscillation and a seam tracking signal from the power source. With the OH-ArcSense 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 probe 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.