Universal Robots UR-6-85-5-A

3.4. Programming
Stacking
When stacking, the robot moves to the starting position, and then moves
opposite the direction to search for the next stack position. When found, the
robot remembers the position and performs the special sequence. The next time
round, the robot starts the search from the remembered position incremented
by the item thickness along the direction. The stacking is finished when the stack
hight is more than some defined number, or when a sensor gives a signal.
Destacking
When destacking, the robot moves from the starting position in the given direc-
tion to search for the next item. When found, the robot remembers the position
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