Bug - 5.11.0 Palletizing + Force Copilot Insertion

Technical Questions Report a Bug
1

Steps to reproduce:
1 - Create a pallet node with a 4 points grid pattern on a flat surface aligned with the XY axis of the Cobot base (number of elements tested 2x6 and 4x9)
2 - Inside the toolAction folder teach the point of an Insertion Spiral Node of the force copilot in Z+ tool direction (aligned with Z- base direction)

Expected Behavior:
Insertion function is shifted to insert the picked piece in the correct XYZ position (with Z+ tool pointing downwards)

Actual Behavior:
Insertion function is shifted to insert the picked piece in the correct XY, but Z goes upwards (Z- tool, Z+ base), this effect increases in the elements farther away from the 1st and 4th corneritems (with Z+ tool pointing downwards)

Workaround Suggestion:

  • Already tried to insert the Insertion function inside a SubProgram and call it from the Robot Program → Does not work
  • Local support suggests is an issue with the points that are not shifted properly in the pallet node

Robot Serial Number:

  • 20225200285 UR10e
  • 20225500123 UR5e

Affected Version(s):
5.11.0

2

try updating the Robot version to 5.13
I’m not sying it will fix it but it might.

I don’t use the palletizing option it’s always been a bit glitchy so I write my own.