I am working with a 710I robot that is used for pallatizing. We are lifting cases that weigh about 15lbs. When the robot goes to place the last box on the pallet I am getting a robot collision alarm about every third pallet. The robot is not hitting anything(about 4in from anything)and I have been unable to find any cause. Does anyone have any thoughts? I am also showing an alarm that says MOTN-170 Load is close to capacity. Could this be the culprit?