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bpndhakalbpndhakal Unconfirmed Posts: 2 Recruit
I am using UR 10e for destacking of thin metal parts. Sometimes, the robot does not function as expected or throws some errors. After the error and/or after program is stopped, its end effector does not remember the last position(at Stack; begins from start position again :(. I used this remember last position on Palletizing/Depalletizing application, but cannot find on Stacking/destacking. 
Does anyone know if it is available also on Stacking Destacking or any other method to do it?

Kind Regards,


  • bcastetsbcastets Vacuum Beta tester Posts: 673 Expert
    I am not sure to understand what is the issue. Is the issue on the end effector ? What is the end effector ?
    Is the issue with the URCAP palletizing node ?
  • bpndhakalbpndhakal Unconfirmed Posts: 2 Recruit
    Hi bcastets,

    First, thank you so much for the answer. 

    The issue is while launching/running the destacking node. Sometimes in case there is error in the movement or collision the robot stops. After this, upon relaunching of the same node or continuing the program, the end effector( for an example a gripper) does not go to the next part it should pick. It goes only at the start position of the stack and the robot thinks it should start from beginning. 

    While implementing the similar program on Palletizing/depalletizing node, there exist a button called "remember last position", which helps  to continue the program from last position it stopped. 

    I did not find similar option on Stacking/Destacking nodes.

    Kind Regards

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