19.9. 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.
19.9.1. 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.
UR10e 250 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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