Universal Robots UR3e

Direction The direction, given by positions B to C , is calculated as the position difference from the
TCP of B to the TCP of C .
Direction does not consider the orientations of the points.
Next Stacking Position Expression
The robot arm moves along the direction vector while continuously evaluating whether
the next stack position has been reached. When the expression is evaluated to True
the special sequence is executed.
“BeforeStart”
The optional BeforeStart sequence is run just before the operation starts. This can
be used to wait for ready signals.
“AfterEnd”
The optional AfterEnd sequence is run when the operation is finished. This can be
used to signal conveyor motion to start, preparing for the next stack.
Pick/Place Sequence
The Pick/Place Sequence is a special program sequence performed at each stack
position, similar to the Pallet operation.
User Manual 249 UR3e
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