Universal Robots UR5 with CB2 User Manual page 77

3.4. Programming
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 positions, and is calculated as the position differ-
ence from the first positions TCP to the second positions TCP . Note: A direction
does not consider the orientations of the points.
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.
Pick/Place Sequence
Like for the Pallet operation (3.4.24), a special program sequence is performed
at each stack position.
77 UR5
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