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"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.
1.24.30. Command: Seek
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.
Stacking
When programming a seek operation for working on a stack, one must define:
• s - the starting point.
• d - the stack direction.
• 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.
User Manual
Destacking
197
UR10
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