Lean ROBOTIQ AX Series, Инструкция по эксплуатации

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9. Troubleshooting
9.1. Palletizing Solution (except the AirPick Gripper)
Symptom / Issue Cause Solution
The robot was brought to a protective stop
after a few layers
A collision occurred between the gripped
box and a box on the palllet. A minor
palletizing error carried over from previous
layers.
l
Increase the box height value to
compensate for box size
discrepancies.
l
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.
The robot started dropping boxes from a
great height
A minor palletizing error carried over from
previous layers.
Decrease the box height value.
The TCP entered is incorrect.
Confirm that the TCP is located above
the box, at the picking position.
The pallet height value entered is too low. Increase the pallet height value.
The robot entered in collision with a box
already placed on the pallet
A collision occurred between the gripped
box and a box on the palllet. A minor
palletizing error carried over from previous
layers.
l
Increase the box height value to
compensate for box size
discrepancies.
l
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 the box width and/or box
length value.
The pallet state in the pallet viewer does
not correspond to the actual pallet state.
Inspect the pallet viewer at program
start and confirm that the virtual
layout corresponds with the actual
layout.
The pallet height value entered is too
high.
Decrease the pallet height value.
Palletizing Solution - Instruction Manual
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