ROBOTIQ PALLETIZING SOLUTION Original Notice page 87

9. Troubleshooting
9.1 . Palletizing Solution (except the AirPick Gripper)
Problem
Robot entered in protective stop after few layers.
Robot starts dropping box from a height that gradually
increase with each layer.
Robot entered in collision with a box already placed on
the pallet.
Robot triggers a protective stop when placing a box on
the first layer.
A box has dropped on the pallet from a high height.
Boxes are not always placed straight on the pallet.
A collision has been detected during the trajectory.
Potential Solution
Make sure to enter a box height that is high enough to compensate
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box variability. You may have to enter a box height that is slightly big-
ger than your real box dimensions. A small error can accumulate and
appear only after many layers.
Make sure to enter a box height that is not too big. Try to reduce it. A
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small error can accumulate and appear only after many layers.
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Make sure to enter a box height that is not too small.
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Make sure you entered box width and length that are not too
short. If your box has rounded sides, you need to compensate by
entering a slightly bigger box width and/or length.
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Make sure you have started your program with the pallet viewer
representing your current situation.
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Verify the box height dimension. You may have to compensate for
a convex box.
Verify pallet height.
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Verify that your TCP height is properly set.
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Validate that the TCP is located over the box at the grip position.
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Validate the height of the pallet in the pallet configuration menu.
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Make sure your conveyor stop rig always places the box at the same
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place every time. You need to have a stable box position to ensure a
reliable box positioning.
Make sure the " Grip position" you have set makes the Vacuum Grip-
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per is centered and parallel to the box.
Make sure the pallet viewer corresponds to reality.
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Move the gripper away from the robot and the linear axis
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Palletizing Solution - Instruction Manual
87