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JustinJJ said:
Im not sure wheather to use the destacking functions or the depalletizing functions?

Hi @j@JustinJJ,

I would recommend to use UR own Seek function with Destacking method. Destack method has build in feature and it will automatically go to above the position where last piece was found.

I think this post might help you a bit:

There is a but! If you are using finger gripper you might not have an IO signal which would give the result for Seek function where the product was found. Then you need to figure out something else to input as a rule. You could use for example built in force force function to seek the stack level. I have used it multiple times and it is pretty flexible way to seek!

Hopefully this helps you to find an answer.