Home; Templates; Palletizing - Universal Robots E Series Original Instructions Manual

23. Program Tab

23.12.10. Home

The Home node uses joint angles to move the robot to a predefined Home position. If defined as a
Safe Home position,the Home node displays as Home(Safety) in the Program Tree. If the Home
position is out of sync with Safety, the node is undefined.

23.13. Templates

23.13.1. Palletizing

Palletizing is a template to easily program palletizing and depalletizing tasks, picking-and-placing
parts (i.e., from trays, fixtures, etc.), and having the robot perform repeatable actions for different
items in multiple layers with different patterns. You can create different patterns and apply them to
specific layers. You can also place a separator between each layer (see
Between Layers in a Palletizing Sequence on
Pallet Properties to easily adjust the placement of your pallet. To learn about Features, see
Features on page 223. Follow the Creating a Palletizing Program section below to use the
Palletizing template.
User Manual
page 181). Furthermore, you can use Features from
177
Adding a Separator
24.17.
UR5e