# UR 10e Stacking/Destacking

**URL:** <https://forum.universal-robots.com/t/ur-10e-stacking-destacking/23859>\
**Category:** Technical Questions\
**Created:** [September 15, 2022, 9:17am UTC](https://forum.universal-robots.com/t/ur-10e-stacking-destacking/23859 "2022-09-15T09:17:16Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![bipeen.dhakal](https://avatars.discourse-cdn.com/v4/letter/b/c68b51/32.png) [@bipeen.dhakal](https://forum.universal-robots.com/u/bipeen.dhakal)\
**Post date:** [September 15, 2022, 9:17am UTC](https://forum.universal-robots.com/t/ur-10e-stacking-destacking/23859/1 "2022-09-15T09:17:17Z")

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Hi,  
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,  
Bipeen

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**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\
**Post date:** [September 16, 2022, 4:28am UTC](https://forum.universal-robots.com/t/ur-10e-stacking-destacking/23859/2 "2022-09-16T04:28:30Z")

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Hello Bipeen,

Sounds weird that it throws errors.  
You could add an expression “At next item” in the destacking function which works with force or a sensor. If done right it will make the robot move downwards until either it hits a part or the sensor activates. It should also remember this position for the next run. 🙂  
It will make it search for a part, if it has been reset, but it will also add the extra function each time a part is picked, so might not be a great solution. 🙂

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**Author:** ![bipeen.dhakal](https://avatars.discourse-cdn.com/v4/letter/b/c68b51/32.png) [@bipeen.dhakal](https://forum.universal-robots.com/u/bipeen.dhakal)\
**Post date:** [September 16, 2022, 7:10am UTC](https://forum.universal-robots.com/t/ur-10e-stacking-destacking/23859/3 "2022-09-16T07:10:11Z")

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Hi efn,  
Many thanks for the reply. The approach you suggested sounds fine, and I will try it.

Best Regards!

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**Author:** ![anon31060955](https://avatars.discourse-cdn.com/v4/letter/a/5e9695/32.png) [@anon31060955](https://forum.universal-robots.com/u/anon31060955)\
**Post date:** [December 6, 2022, 4:01pm UTC](https://forum.universal-robots.com/t/ur-10e-stacking-destacking/23859/4 "2022-12-06T16:01:26Z")

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> [@efn](#):
>
> force or a sensor

Is it possible to use the force sensor in ur robot or must i buy a external force sensor, don have the e-ur.  
If, it possible, how do i use it? in the destack wizard.