ROBOTIQ PALLETIZING SOLUTION, Original Notice

Page: 88 / 97

Discontinuous path detected, please change your starting
point.
l
Verify in the Move tab that the joints are in the center of the limits.
For the wrist #3, the algorithm will adjust the wrist at the start of the
palletization.
Violation: A joint exceeded the torque window
l
Robot joint limits may be too restricted. Modify by tapping: Install-
ation
→
Safety.
9.2. AirPick Vacuum Gripper
9.2.1. Communication
When using AirPick Vacuum gripper with USB to RS485 serial converter:
Troubleshooting from the Gripper LED:
1. LED is not lit, Gripper not powered.
a. Check Gripper power supply and electrical setup
2. LED is solid blue and red, Gripper is in fault.
a. Disconnect the communication and power cycle the Gripper. The LED should turn solid red when powered.
b. While powered with red LED, connect the communication, LED should turn solid blue when connection is established.
3. Flashing blue and red LED, Gripper is in fault.
a. Gripper may be in auto-release, wait for auto-release to be completed, then turn off auto-release and initialize the Grip-
per.
b. Gripper may have a major fault, check the error from fault status and contact support.
4. Solid blue, no fault and communicating.
a. If you can control the Gripper from the GUI on the pendant, check your program structure.
b. If you can not control the Gripper from the pendant, contact support.
5. Solid red, no fault, but Gripper is not communicating.
a. USB-RS485 converter LEDs are :
1.
l
Not lit, no USB communication.
i. Check USB connection.
ii. Re-install drivers.
iii. Contact support.
88