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      Fixing Trajectory Errors in AX30 During Find Surface (Pre-Copilot 3.22.0)

      Prevent gripper collisions by recording and returning to a known safe TCP pose after using the Find Surface function.

      📌 Context

      In versions of the Robotiq AX30 Palletizing Solution prior to Copilot URCap 3.22.0, the Find Surface node can cause the robot to move too far downward, increasing the risk of gripper collisions.

      Although newer URCap versions (currently at 3.29.0) resolve this issue, some users may not be able to upgrade. A previous Polyscope firmware release included a joint controller update that cannot be rolled back, making it impossible to match older URCap versions with a newer Polyscope setup.

      This article presents a reliable workaround for teams who must operate within these version constraints.

      🔍 Symptoms

      • The robot moves farther down than expected during the Find Surface step.

      • The gripper may collide with the box, potentially causing fault conditions.

      ⚠️ Cause

      When box height or environmental calibration is imperfect, the Find Surface function may allow the robot to descend beyond the box’s top surface.

      ✅ Solution

      To avoid gripper collisions:

      1. Assign the Current TCP Pose
        In the Grip node, record the robot's position using:
        PickPose := get_actual_tcp_pose()


      2. Run the Find Surface Step
        Let the robot detect the top of the box.

      3. Grip the Box
        Close the gripper and verify the payload is secured.

      4. Return to the Safe Pose
        Insert a MoveL command before the Release node to return to PickPose.

      5. Continue with the Palletizing Sequence

       

      🎯 Benefits

      • Collision Avoidance: Ensures the robot retracts before any lateral movement.

      • Increased Reliability: Minimizes the risk of fault conditions due to collisions.

      • Easier Debugging: Known pose provides a reliable return point.

      ✅ Conclusion

      By recording and returning to a safe TCP pose, you can enhance the stability of your AX30 Palletizing workflow and avoid unexpected behavior during the Find Surface step.

      ➡️ If you encounter continued issues, don’t hesitate to [Get Support].

      Updated: May 2025