Universal Robots UR5e User Manual page 146

16.7 Wizards
Stacking Destacking
When programming a seek operation for working on a stack, one must define s the starting point,
d the stack direction and i the thickness of the items in the stack.
On top of this, one must define the condition for when the next stack position is reached, and
a special program sequence that will be performed at each of the stack positions. Also speed
and accelerations need to be given for the movement involved in the stack operation.
Stacking
When stacking, the robot arm moves to the starting position, and then moves opposite the di-
rection to search for the next stack position. When found, 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. The stacking is
finished when the stack height is more than some defined number, or when a sensor gives a
signal.
CB5 II-62 Version 5.0.2