The LBR iiwa has integrated, sensitive torque sensors in all seven axes. These endow the lightweight robot with contact detection capabilities and programmable compliance. It masters force-controlled joining operations and continuous-path processes for which the position of the objects must be determined sensitively. It can also handle fragile and sensitive objects without damaging them. In many cases, the integrated sensitivity of the LBR iiwa allows the use of simpler and less expensive tools. The KUKA iiwas are robotic arms with the strength and speed of an industrial robot. It is up to the programmer to set up the appropriate safety settings on the controller, and clear the working environment before testing any code. T1 mode should be used almost exclusively during testing phases to limit the speed of the robot in a safe and reliable way.