![](https://www.researchgate.net/profile/Manuel-Silva-8/publication/325049626/figure/fig2/AS:624449372049408@1525891740251/Figura-8-Aspect-of-ABB-RobotStudio-with-the-TCP-Trace-window-open-to-configure-alerts.png "Aspect of ABB RobotStudio with the \")
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