3.4.9. Templates
Description The templates can be used to add specific functionality to a robot program.
The different templates will enable the you to perform complex tasks with
your robot program.
Seek
Description The seek function uses a sensor to determine the correct position to grab or
drop an item. This function allows for working on stacks of items of varying
thickness, and determining the exact positions of the items are either
unknown or too hard to program.
The sensor can be a push button switch, a pressure sensor or a capacitive
sensor.
Seek To program a seek operation, define the following:
•
A
- the starting point.
•
B to C
- the stack direction. This means growing the stack when
Stacking and shrinking the stack when Destacking.
•
D
- the thickness of the items in the stack.
You must also define the condition for when the next stack position is
reached, and a special program sequence that is performed at each stack
position.
Speed and accelerations need to be given for the movement involved in
the stack operation.
User Manual 242 UR5e
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