Troubleshooting; Palletizing Solution (Except The Airpick Gripper) - ROBOTIQ PALLETIZING SOLUTION AX Series Instruction Manual

9. Troubleshooting

9.1. Palletizing Solution (except the AirPick Gripper)

Symptom / Issue
The robot was brought to a protective stop
after a few layers
The robot started dropping boxes from a
great height
The robot entered in collision with a box
already placed on the pallet
Cause
A collision occurred between the gripped box
and a box on the palllet. A minor palletizing
error carried over from previous layers.
A minor palletizing error carried over from
previous layers.
The TCP entered is incorrect.
The pallet height value entered is too low.
A collision occurred between the gripped box
and a box on the palllet. A minor palletizing
error carried over from previous layers.
One or several faces of the box are rounded.
The pallet state in the pallet viewer does
not correspond to the actual pallet state.
The pallet height value entered is too
high.
Increase the box height value to
l
compensate for box size
discrepancies.
A good practice to determine box
l
height is to measure the height of a
full pallet (boxes only), and divide it
by the number of layers on the
pallet.
Decrease the box height value.
Confirm that the TCP is located above
the box, at the picking position.
Increase the pallet height value.
Increase the box height value to
l
compensate for box size
discrepancies.
A good practice to determine box
l
height is to measure the height of a
full pallet (boxes only), and divide it
by the number of layers on the
pallet.
Increase the box width and/or box length
value.
Inspect the pallet viewer at program
start and confirm that the virtual layout
corresponds with the actual layout.
Decrease the pallet height value.
Palletizing Solution - Instruction Manual
Solution