Universal Robots E Series Original Instructions

Direction
The direction, given by positions B to C, is calculated as the position difference from the TCP of B
to the TCP of C.
Direction does not consider the orientations of the points.
Next Stacking Position Expression
The robot arm moves along the direction vector while continuously evaluating whether the next
stack position has been reached. When the expression is evaluated to True the special sequence
is executed.
“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 stack.
Pick/Place Sequence
The Pick/Place Sequence is a special program sequence performed at each stack position, similar
to the Pallet operation.
UR5e 186 User Manual
23.Program Tab
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.

Universal Robots E Series Specifications

General

Brand	Universal Robots
Model	E Series
Category	Robotics
Language	English