> For the complete documentation index, see [llms.txt](https://docs.robpod.cloud/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.robpod.cloud/hmi-designer/working-examples/doosan-robotics/touch-example-dr.md).

# Touch Example DR

### HMI Panel File

<figure><img src="/files/WHUliBY847yBGb9YsU1F" alt=""><figcaption></figcaption></figure>

{% file src="/files/fHM91J6un6dcCQzav5zV" %}

### Script File

```python
from DRCF import *

# HMI variables
task_running = False
display_status = ""

# HMI functions
def start_task():
    global task_running, display_status
    task_running = True

    while task_running:
        movel(posx(40.1, -294.5, 400, 0, 178.1, 0), v=200, a=200)
        display_status = ""
        amovel(posx(40.1, -294.5, 100, 0, 178.1, 0), v=200, a=200)
        while check_motion() != DR_STATE_IDLE:
            if abs(get_tool_force()[DR_AXIS_Z]) > 8:
                stop(DR_QSTOP)
                display_status = "TOUCH DETECTED!"
                break
            wait(0.1)

    display_status = ""
    movel(posx(40.1, -294.5, 400, 0, 178.1, 0), v=200, a=200)

```


---

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