I having been setting up several programs that utilize the palletizing instructions over the last few weeks. This week I encountered a situation that I did not understand. The approach position that I recorded did not maintain its recorded value. I noticed the robot moving to an apparent approach position that did not match the position I recorded. After several attempts to re-record the approach position I still noticed the same strange behavior. The approach position I recorded was only a few (10 mm) above the bottom position (1,1,1). However, the robot was moving to an approach position at least 40 mm above what I recorded. Any thoughts on what was happening? I will note that in this case the parts tray was unfortunately located very close to the robot base (LR Mate 300ic, Handling Tool). This may have created some challenging kinematics for the near side pallet positions. Perhaps the robot attempted to select a new approach position that could be more easily reached. Not sure about that. Thanks everyone one.
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