Troubleshooting; Palletizing Solution (Excluding The Powerpick20/30 Vacuum Gripper) - ROBOTIQ AX20 Manual

10. Troubleshooting

10.1. Palletizing Solution (excluding the PowerPick20/30 Vacuum
Gripper)
Symptom / Issue
Robot comes to a robot stop (protective stop)
after palletizing a few layers
Robot drops boxes from great heights
Robot collides with palletized box
Cause
A collision occurred between
the gripped box and a box on
the pallet.
A minor palletizing error
carried over from previous
layers.
Minor palletizing error carried
over from previous layers.
Incorrect TCP.
Pallet height value is too high.
A collision occurred between
the gripped box and a box on
the pallet.
A minor palletizing error
carried over from previous
layers.
One or several faces of the box
are rounded.
Pallet viewer does display
actual pallet state.
Pallet height value is low.
Solution
Increase box height value to
compensate for box size
discrepancies. A good practice to
determine box 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 TCP is located above the
box, at the picking position.
Decrease pallet height value.
Increase the box height value to
compensate for box size
discrepancies. A good practice to
determine box height is to measure
the height of a full pallet (boxes only),
and divide it by the number of layers
on the pallet.
Increase box width and/or box length
value.
Inspect Pallet viewer at program start
and confirm the virtual layout
matches the actual layout.
Increase the pallet height value.
AX20/AX30 Palletizing Solution