I’m having an issue with our robot and a palletizing routine. After stacking 300 parts, the robot likes to extend itself to a full length position and alarm out. This has happened 3 times, each time after stacking exactly 300 parts. Is there an internal limit or issue with trying to stack over 300 parts? My palletizing routine has 12 rows, 8 columns and 7 layers for a total of 672 parts.
Thanks.
I’ve seen quite a few issues reported with the internal Palletizing node. So I’ve never used it. There shouldn’t be some arbitrary limit, no. Sounds like either the Feature is getting shifted in such a way that it produces an unreachable position, or something else in the palletizing is going wrong.
If you have added a Palletization Template and have amended the points in the four corners of your pallet after initially teaching them, the robot can display this behavior. If you intend to change a palletization template and are using 5.24 or below, delete the entire template and start over. Otherwise, I believe they have fixed this issue with revision 5.25.
Thanks for the info. I did infact use a template I had created and edited the pallet settings. I’ll redo it from scratch and try it again.
No problem. I have UR3 and UR5 here at my facility and have updated to 5.25 and have not experienced this since. I also had one customer who had the same issue where the robot would fly off into singularity and P-stop (especially on a restart of their machine) and they have not reported of this behavior since updating the software to 5.25.