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Make sure that the F/T Zero command is used before the F/T
Destack is executed and the tool is not in contact with any object
(the force/torque reading is zero).
Coordinate system: The coordinate system used both for the movement and for
the sensor reading. It can be set to Base or Tool (according to the UR's reference
frames).
Starting position (SP): The starting pose can be defined by a constant such as
p[0.1,0.2,0.3,0.9,0.8,0.7] or by a variable. It needs to be higher than the
full stack's top.
Item number variable: The variable that is used to track how many items are
destacked successfully. Enter here the variable name that you have previously
defined and set to 0. (E.g.: Use the built-in UR Assignment command item_1 := 0
in the Before Start section of your program).
Axis: The axis along the destacking is performed (X,Y or Z).
Max. distance (D): The stopping distance along the defined axis. It is measured
from the Starting position (SP) and needs to be more than the size of the full stack.
The sign defines which direction the destacking is performed along the given axis.
Item thickness (i): The stacked items thickness.
Max. number of items: Defines how many items could be destacked, so how many
destacked item makes the stack empty.
Force limit (N): The force limit for the collision detection to find the stack top.
Torque limit (Nm): The torque limit for the collision detection to find the stack
top.
Speed: The movement speed while searching for the stack top. (m/s, rad/s)
The slower the speed during the searching phase is the better to
work with hard contacts (such as metal surfaces) to avoid
overshoots due to the robot's and the tool's momentum.
Acc.: The acceleration parameter of the movement. (m/s
Brake: The deceleration parameter of the movement. (m/s
Move multiplier: Defines how many times of the given speed and force/torque
limit is used while the robot is not searching the top of the stack but moving
to/from the starting point.
Begin at SP: If enabled, the command will start with moving to the Starting
position (SP) at the beginning of its execution.
End at SP: If enabled, the command will exit with moving to the Starting position
(SP) at the end of its execution.
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Using the URCap Plugin 30
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