Inconsistent box positioning
Unstable picking position.
On the conveyor, make sure the stop
consistently positionsthe 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.
l
Restart the program and select the
corresponding box step.
l
Verify the TCPposition and
orientation values.
"Discontinuous path / joint solution
impossible detected, please change
your starting point" error message
Singularity occurred on planned trajectory.
l
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.
l
If the box position istoo close to the
robot base, discontinuouspath
issuescan occur. Verify that the
picking zone isrespected.
l
If this situation only occurs with
pallets on one side of the Solution,
try centering the layer pattern on the
pallet.
l
Verify TCPposition and orientation
values.
l
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.
l
Should none of the above steps solve
the issue, please contact
support@robotiq.com.
The box layer showsa rotational
offset relative to the surface of the
pallet. Collisions can occur with the
pallet sensor on one side, but not on
the other.
not centered on the base.
Execute the centering procedure
found in the Installation section.
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