My class has learned to Palletize the 6 blocks on the 2x3 base, now how do I tell robot to Depalletize them & put back in line on the Dorner conveyor?
Is this a CB3 or e-series?
No matter what, depalletizing and palletizing are not decided by the Palletizing function. It’s decided by the Tool Actions and the Moves and Waypoints coming before and after the palletizing. 
So you set up the Depalletizing the same as if you were palletizing: 4 corners and anchor point (pattern point) at the first corner. Approach and Exit are probably the same, too. But instead of closing the gripper around the object, you open the gripper as if you had the object in the tool already.
Then, before and apart from the Palletizing function, you make a sequence for the robot to pick up the object.
Thank you.
That’s a big help.
I have 2 UR 5’s & 4 UR 3’s in a Junior College.
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