Universal Robots UR3/CB3 User Manual page 188

Destacking
When destacking, the robot arm moves from the starting position in the given direc-
tion 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 po-
sition 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.
CB3 II-104
14.26 Command: Seek
Version 3.3.3