I'm currently working on a job to place 15 parts on 3 rows and 5 columns:
https://image.prntscr.com/image/c4B8oJh_T1_P3CytQrZEKQ.png
First 2 rows are made with 1 shift operation, the middle row is a different shift operation and the last 2 rows are a copy-paste of the first shift operation with the initial part moved in the correct position. In addition to shifting on X and Y, for all the parts i'm doing also shifting on Z axis to constantly adjust the height. Everything works fine except the part that is marked with red(13) for which the gripper turns around B/R axis colliding a bit in the table and then for the next 2 parts the position is fine. It is a strange behaviour since the only elements i change on the P variable used for shifting are (1), (2), and (3). I also have the user coordinates configured for the working table. Any ideeas as to why this random movement is happening?
Thank you in advance.