Nordbo Robotics Palletizer, User Manual, Page: 14 / 25

13 of 24 Palletizer for Universal Robots - User Manual – Ver. 1.0
Execute Section
The execute section is a loop running though until the pallet is complete. Before each layer it checks
if the lift should be raised to the next layer. Each layer is completed by repeating the actions shown
on figure 10
.
Figure 10: Program execution loop, illustrated
Reset Section
The reset phase resets the robot position to a “safe” position and the lift elevations to the lowest
elevations.
Move to
"Safe"
position
Pick up
product
Move to
"Safe"
position
Place product
on pallet