ROBOTIQ AX20 Manual page 126

Robot stop (protective stop) triggered by robot
placing a box on first layer
Inconsistent box positioning
"Collision detected" error message during
trajectory
"Discontinuous path / joint solution impossible
detected, please change your starting point"
error message
AX20/AX30 Palletizing Solution
Box height value is too low.
Pallet height value is too low.
Incorrect TCP.
Unstable picking position.
Incorrect picking position.
Pallet viewer layout does not
correspond to actual physical
layout. The robot detected a
collision with an object that is
not physically present.
Singularity occurred on
planned trajectory.
Verify the box height value.
Verify the pallet height value.
Confirm that the TCP has been set
correctly.
On the conveyor, make sure the stop
consistently positions the boxes
correctly.
Make sure that the vacuum gripper is
squared and centered with the box at
the picking position.
Restart the program and select the
l
corresponding box step.
Verify the TCP position and
l
orientation values.
Go to the PolyScope Move tab, and
l
verify if the joints are at the center of
their range (0°) when the robot is at
the picking position. The algorithm
will adjust wrist 3 automatically at
program start.
If the box position is too close to the
l
robot base, discontinuous path
issues can occur. Verify that the
picking zone is respected.
If this situation only occurs with
l
pallets on one side of the Solution,
try centering the layer pattern on
the pallet.
Verify TCP position and orientation
l
values.
The robot may have reached a
l
singularity or be close to reaching a
singularity. Move the robot to the
Home position and restart the
program.
If none of the above steps solve the
l
issue, please contact
support@robotiq.com.