# UR10 ignoring DI trigger to stop stacking

**URL:** <https://forum.universal-robots.com/t/ur10-ignoring-di-trigger-to-stop-stacking/37586>\
**Category:** Technical Questions\
**Created:** [December 9, 2024, 3:47pm UTC](https://forum.universal-robots.com/t/ur10-ignoring-di-trigger-to-stop-stacking/37586 "2024-12-09T15:47:07Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![flemingtb](https://avatars.discourse-cdn.com/v4/letter/f/0ea827/32.png) [@flemingtb](https://forum.universal-robots.com/u/flemingtb)\
**Post date:** [December 9, 2024, 3:47pm UTC](https://forum.universal-robots.com/t/ur10-ignoring-di-trigger-to-stop-stacking/37586/1 "2024-12-09T15:47:07Z")

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I have a UR10 that i’m trying to develop a stack and de-stack program for. The motion path is correct but the robot is driving through the DI trigger to stop stacking. This is the DI bit that i have tied to "The next position is found when… DI(0) = False.

When the Seek portion starts and the robot is seeking the stack position is blows right through the DI trigger.

Any help would be appreciated.

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**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [December 9, 2024, 3:49pm UTC](https://forum.universal-robots.com/t/ur10-ignoring-di-trigger-to-stop-stacking/37586/2 "2024-12-09T15:49:30Z")

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Posting a screenshot of your code will help