Manual
Configuration
1. Tap the At Each Item node on the Program Tree.
2. On the At Each Item start screen, tap Manual Configuration.
3. Use the drop-down menus to select a Pattern and a ReferencePoint item. Tap
the Use this ReferencePoint button to set the ReferencePoint.
4. Move the robot to the ReferencePoint by tapping Move Here.
5. Tap the Approach node in the Program Tree to teach the robot the Approach
Waypoint (see ). The Approach Waypoint remains in the same orientation and
direction regardless of the different items’ orientation.
6. Tap the At Each Item node in the Program Tree. Repeat Step 4.
7. Tap the Exit node in the Program Tree to teach the robot the Exit Waypoint (see
).
8. You can now add appropriate gripper action nodes in the Tool Action folder in the
Program Tree.
Adding a
Separator
Between Layers
in a Palletizing
Sequence
Separators, such as paper or Styrofoam, can be placed between layers in a palletizing
sequence. To add separators between layers, follow the instructions below:
1. On the Program Tree, select the Patterns node.
2. On the Patterns screen, select Separator and define the height using the
Separator Height text box. If the height is not defined, the program will not run.
3. Select Layers in the Program Tree. On the Layers screen, select which layers
you want the separators to go between (separators are automatically placed
between each layer).
4. Tap the Separator node in the Program Tree. Tap Set Separator to teach the
Separator Position.
5. Choose between using the default option (A) Separator Wizard, or (B) Manually
Configure the Separator sequence. Instructions for each option are below.
When the wizard is complete, or if you cancel the wizard, a template appears in the
Program Tree under Separator Action. In addition to the Tool Action folder under the
Separator Action node, you can select one of the following folders:
•
Pick Up Separator to program the robot to pick up separators for palletizing
•
Drop Off Separator to drop off separators for depalletizing
UR10e 260 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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