Seek - Universal Robots E Series Original Instructions Manual

23. Program Tab
• You can change the speeds and blends radii (see
• You can add other program nodes to the At Each Item sequence or the Separator Action
sequence.

23.13.2. Seek

The seek function uses a sensor to determine the correct position to grab or drop an item. This
function allows for working on stacks of items of varying thickness, and determining the exact
positions of the items are either unknown or too hard to program.
The sensor can be a push button switch, a pressure sensor or a capacitive sensor.
To program a seek operation, define the following:
• A - the starting point.
• B to C - the stack direction. This means growing the stack when Stacking and shrinking the
stack when Destacking.
• D - the thickness of the items in the stack.
You must also define the condition for when the next stack position is reached, and a special
program sequence that is performed at each stack position.
Speed and accelerations need to be given for the movement involved in the stack operation.
User Manual
Stacking
23.11.1. Move on
Destacking
183
page 152).
UR5e