14.28 Command: Seek
Direction
The direction is given by two positions, and is calculated as the position difference from the first
positions TCP to the second positions TCP.
Note: A 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 (see 14.27) .
CB3 II-112 Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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