ROBOTIQ PE20 - Troubleshooting; Palletizing Solution (excluding the PowerPick20 Vacuum Gripper)

9.Troubleshooting
9.1.PalletizingSolution(excludingthe PowerPick20 VacuumGripper)
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 isto measure
the height of a full pallet (boxesonly),
and divide it by the number of layers
on the pallet.
Robot drops boxesfrom great
heights
Minor palletizing error carried over from
previous layers.
Decrease the box height value.
Incorrect TCP.
Confirm TCPis located above the box,
at the picking position.
Pallet height value istoo 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 isto measure
the height of a full pallet (boxesonly),
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 istoo high. Decrease the pallet height value.
Protective stop triggered by robot
placing a box on first layer
Box height value istoo high. Verify the box height value.
Pallet height value istoo high. Verify the pallet height value.
Incorrect TCP.
Confirm that the TCPhas been set
correctly.