Appendix
56
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6.4.3
F/T Destack
Command Return Values
0
One iteration of the destacking is complete.
1
The iteration counter is over the maximum: the stack is empty.
2
Destacking is unsuccessful. Next item not found.
3
Destacking cannot start due to a force or torque exceeding the set limit.
4
The movement to the next element was unsuccessful, a collision occurred.
5
The movement to the starting point was unsuccessful, a collision occurred.
6.4.4
F/T Fix and Rotate
Command Return Values
0
The Fix and Rotate finished with no error.
11
The Orientation centerpoint search of Ry was unsuccessful.
12
The Orientation centerpoint search of Ry was unsuccessful.
21
The rotation was unsuccessful, collision occurred.
22
The rotation ended without contact.
99
Parameter error.
