Universal Robots UR16e

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.
UR16e 252 User Manual
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