Universal Robots UR16e

Creating a
Palletizing Program
1. Decide if you want to teach a Feature (see ) or use a Base as a
reference plane.
2. In the Program Tab, under Templates, tap Palletizing.
3. On the Palletizing screen, select one of the following actions
depending on the desired action.
1. Select Palletizing to organize items onto a pallet.
2. Select Depalletizing to remove items from a pallet.
4. Under Pallet Properties, specify the Name, Feature (see Step 1),
Object Height, and Item Counter name for your program. Select the
Remember last item location box if you want the robot to restart at
the item it was handling when it stopped.
5. On the Palletizing screen, under Actions, add additional actions to
be performed before or after palletizing sequence by selecting the
following:
1. Add Action Before Palletizing: These actions are performed
before starting to palletize.
2. Add Action After Palletizing: These actions are performed
after finishing palletizing.
6. On the Program Tree, tap the Patterns node to designate patterns
for your layers. You can create the following type of patterns: Line,
Grid, or Irregular (see figure below). On this screen, you can select if
you want to include a separator between layers (see ).
7. Tap the pattern node(s) on the Program Tree to teach the robot
layer-specific positions (e.g., start/end points, grid corners, and/or
number of items). See for teaching instructions. All positions must be
taught at the bottom of the pallet. To duplicate a pattern, tap the
Duplicate pattern button on the Pattern node screen that you wish to
duplicate.
8. In the Program Tree, tap the Layers node to configure the layers of
your palletizing sequence. Use the Choose Pattern drop-down
menu to select the pattern for each layer. Tap the Add layer button
to add additional layers to your program. Layers must be added in
the correct order, as they cannot be reordered later.
User Manual 259 UR16e
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