Hey guys,
We are having an issue where we are trying to grab parts from that are in an array 3 rows and 3 columns. We do not have the palletizing software so our program uses loops and offsets to complete the pick and place actions. I have taught the table as a user frame, and we have no issues with our x and y offsets moving from part to part. The issue we are running into is that by the time our robot moves to part 3 in the X direction, there is a gap between our gripper frames and the part. I have checked all of our offsets to make sure a number was not sneaking in somewhere. we releveled the robot, the table is level, the grippers are level, the user frame has 0,0,90 for W,Y,R,. Feels like we have tried everything the past 2 days and cannot find a solution. Our program is written so that we can run parts of different heights. so our tray start is from the face of the table and the z offset is the height of the part from the table. We have also tried for the sake of testing to have the tray start position register located with gripper at the specific height of the parts. The table is not deflecting either. I'll include pictures of the user frame coordinates, offsets, program, and user positions as the robot moves from part to part.
If I need to explain something better please let me know. This has been extremely frustrating and time consuming and we are just hoping that someone on here maybe has an idea of what we could do.