ROBOTIQ AX10 - Troubleshooting; Troubleshooting Palletizing Solution

AX10 Palletizing Solution
10. Troubleshooting
10.1. Palletizing Solution (excluding the PowerPick10 Vacuum Gripper)
Symptom / Issue Cause Solution
Robot comes to a protective stop after
palletizing a few layers
A collision occurred between the
gripped box and a box on the pallet.
A minor palletizing error carried over
from previous layers.
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.
Robot drops boxes from great heights
Minor palletizing error carried over from
previous layers.
Decrease the box height value.
Incorrect TCP.
Confirm TCP is located above the
box, at the picking position.
Pallet height value is too low. Increase pallet height value.
Robot collides with palletized box
A collision occurred between the
gripped box and a box on the pallet.
A minor palletizing error carried over
from previous layers.
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.
One or several faces of the box are
rounded.
Increase box width and/or box length
value.
Pallet viewer does display actual pallet
state.
Inspect Pallet viewer at program start
and confirm the virtual layout
matches the actual layout.
Pallet height value is too high. Decrease the pallet height value.
Protective stop triggered by robot
placing a box on first layer
Box height value is too high. Verify the box height value.
Pallet height value is too high. Verify the pallet height value.
Incorrect TCP.
Confirm that the TCP has been set
correctly.