Stacking
When stacking, the robot arm 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 height is more than some defined number, or when a sensor gives a
signal.
UR10 198 User Manual
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