Command Tab, Seek - Universal Robots UR5 with CB2 User Manual

3.4. Programming
Pallet Sequence/Anchorable Sequence
In an Pallet Sequence node, the motions of the robot are relative to the pallet
position. The behavior of a sequence is such that the robot will be at the po-
sition specified by the pattern at the Anchor Position/Pattern Point. The
remaining positions will all be moved to make this fit.
Do not use the Move command inside a sequence, as it will not be relative
to the anchor position.
"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 pallet.
3.4.25 Program
A seek function uses a sensor to determine when the correct position is reached
to grab or drop an item. The sensor can be a push button switch, a pressure
sensor or a capacitive sensor. This function is made for working on stacks of
items with varying item thickness, or where the exact positions of the items are
not known or too hard to program.
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.
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Command Tab, Seek

Stacking
75
Destacking
UR5