Universal Robots UR16e

Creating a
Palletizing Program
9. In the Program Tree, tap At Each Item node. Choose to use the
default option (A) At Each Item Wizard, or (B) Manually Configure At
Each Item. Instructions for each option are below.
At Each Item Wizard The At Each Item Wizard assists in defining the actions performed at each
item on a pallet, such as the ReferencePoint, the Approach Waypoint,
ToolActionPoint Waypoint, and Exit Waypoint (described in the table
below). The Approach and Exit Waypoints for each item remains in the
same orientation and direction regardless of the different items’ orientation.
1. Tap the At Each Item node on the Program Tree.
2. On the At Each Item screen, tap Next.
3. Tap the Move Here button. Then, hold the Auto button or use the
Manual button to move the robot to the ReferencePoint. Tap the
Continue button. Tap Next.
4. Tap Set Waypoint to teach the Approach Waypoint (see ). Tap Next.
5. Repeat Step 3.
6. Tap Set Waypoint to teach the Exit Waypoint (see ). Tap Next.
7. Tap Finish.
8. You can now add appropriate gripper action nodes in the Tool Action
folder in the Program Tree.
UR16e 260 User Manual
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