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.
UR5e 245 User Manual
Copyright © 2009–2023 by UniversalRobotsA/S. All rights reserved.
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