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14.25 Command: Pallet

A pallet operation can perform a sequence of motions in a set of places given as a

pattern, as described in 14.23. At each of the positions in the pattern, the sequence

of motions will be run relative to the pattern position.

Programming a Pallet Operation

The steps to go through are as follows;

1. Deﬁne the pattern.

2. Make a “PalletSequence” for picking up/placing at each single point. The

sequence describes what should be done at each pattern position.

3. Use the selector on the sequence command screen to deﬁne which of the way-

points in the sequence should correspond to the pattern positions.

Pallet Sequence/Anchorable Sequence

In an Pallet Sequence node, the motions of the robot arm are relative to the pallet

position. The behavior of a sequence is such that the robot arm will be at the po-

sition speciﬁed by the pattern at the Anchor Position/Pattern Point. The

remaining positions will all be moved to make this ﬁt.

Do not use the Move command inside a sequence, as it will not be relative to the

anchor position.

“BeforeStart”

The optional BeforeStart sequence is run just before the operation starts. This

can be used to wait for ready signals.

Version 3.4.5

II-95 CB3

Universal Robots UR5 User Manual

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