Anyone seen this type of behavior before?(see Video) It's very repeatable. PalletTool robot
Always the last cases dropped off the tool on the 1st pick of every layer. Doesn't matter if it is a flipped layer or not. Looks like a collision almost(see video) but it keeps running. Disturbance and Torque values are within range.
It is right before the 1st move in RET_PERCH or PKFRMINF (depending if there is a pick ready or not). I tried putting a PAUSE right before the move, which requires a cyclestart and the robot runs fine. I tried replacing the PAUSE with a 1 sec WAIT statement and it still acts up.