Universal Robots UR-6-85-5-A, User Manual

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3.4. Programming
and performs the special sequence. The next time round, the robot starts the
search from the remembered position, incremented by the item thickness along
the direction.
Starting position
The starting position is where the stack operation starts. If the starting position is
omitted, the stack starts at the robots current position.
Direction
The direction is given by two points, and is calculated as the difference from the
first points TCP to the second points TCP.
1
Next Stacking Position Expression
The robot moves along the direction vector while continuously evaluating whether
the next stack position has been reached. When the expression is evaluated to
True
the special sequence is executed.
“BeforeStart”
The optional
BeforeStart
sequence is run just before the operation starts. This
can be used to wait for ready signals.
“AfterEnd”
The optional
AfterEnd
sequence is run when the operation is finished. This can
be used to signal conveyor motion to start, preparing for the next stack.
1
A direction does not consider the orientations of the points.
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