Universal Robots e-Series Original Instructions Manual page 103

7. Program Tab
Destacking
During Destacking, the robot arm moves from point A in the given direction to search for the next
item. The condition on the screen determines when the next item is reached. When the condition is
satisfied, the robot remembers the position and performs the special sequence.
In subsequent rounds, the robot starts the search from the remembered position, incremented by
the item's 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 robot arm's current position.
Software Manual 103 e-Series