Universal Robots UR10/CB3, User Manual

Page: 207 / 249

Destacking
When destacking, the robot arm moves from the starting position in the given direction to search
for the next item. The condition on the screen determines when the next item is reached. When
the condition becomes satisfied, the robot remembers the position 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 robot arm’s current position.
User Manual 199 UR10
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