When the robot is palletizing it will try to straighten out at one point

General Application Help: How do I?
1

I am having the robot be off to the side of a 4x4 grid and at the 11th loop, we are wanting the robot to drop off a part in the spot, but the robot wants to straighten out into a protective stop. Before we tell it to drop the item, we have it be above the approach point and to the left in-between the 1st and 2nd columns. None of the joints are close to their limits beforehand. If you were to look and image shown below, the " * " represents the point in which we are having trouble with, and the red dot is where the robot is before it goes to the point.

table
table346×149 1.3 KB

For a partial solution, I had found that in the movej code at the beginning of the palletize code if I were to click the “use joint angles” and then unclick it, it would be able to run through the pallet without problems for 2 times. Then, it would revert back to the robot straightening out at the one point.

Any help would be greatly appreciated since I can’t figure out what could be wrong with this.

2

Are your moves set to “Use Active TCP” or are you explicitly calling out which TCP to use? Often times I find if the robot is doing something you don’t understand, it’s because the Feature or TCP is different at the time you taught the point than what it should be.

3

I was calling out a specific TCP for it. I tried mirroring the pallet so it would go backwards from what it was originally going. I ran it three times just going from the above table position to dropping the part and somehow it is working.