AX10 Palletizing Solution
Inconsistent box positioning
Unstable picking position.
On the conveyor, make sure the stop
consistently positions the boxes
correctly.
Incorrect picking position.
Make sure that the vacuum gripper is
squared and centered with the box at
the picking position.
"Collision detected" error message
during trajectory
Pallet viewer layout does not correspond
to actual physical layout. The robot
detected a collision with an object that is
not physically present.
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Restart the program and select the
corresponding box step.
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Verify the TCP position and
orientation values.
"Discontinuous path / joint solution
impossible detected, please change
your starting point" error message
Singularity occurred on planned
trajectory.
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Go to the PolyScope Move tab, and
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.
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If the box position is too close to the
robot base, discontinuous path
issues can occur. Verify that the
picking zone is respected.
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If this situation only occurs with
pallets on one side of the Solution,
try centering the layer pattern on
the pallet.
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Verify TCP position and orientation
values.
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The robot may have reached a
singularity or be close to reaching a
singularity. Move the robot to the
Home position and restart the
program.
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Should none of the above steps
solve the issue, please contact
support@robotiq.com.
The box layer shows a rotational offset
relative to the surface of the pallet.
Collisions can occur with the pallet
sensor on one side, but not on the
other.
Column not centered on the base.
Execute the centering procedure
found in the Installation section.
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