How to Use Contact Detection in Robotiq Palletizing Applications

Context:
Contact detection is a feature that helps ensure the robot has made contact with a surface (like a box or layer) before proceeding to the next step. This is particularly useful in palletizing scenarios with variable box shapes, tight placements, or when working with heavy loads. Using contact detection helps reduce positioning errors and avoid unexpected protective stops (P-stops).

Information:

When to Use Contact Detection

Contact detection is beneficial in the following cases:

• Rounded boxes – Boxes may touch in the middle but leave a gap at the top

• Parallelogram-shaped boxes – Inconsistent contact points due to deformed shapes

• Tight pattern placements – Ensures safe, accurate positioning despite minimal clearances

• Collaborative applications – Reduces risk of protective stops due to contact uncertainties

• Heavy box applications – Confirms contact before releasing heavy loads

• Interlayer placement – Verifies layer presence to maintain stack integrity

left rounded box / right Parallelogram shaped

How Contact Detection Works

The robot performs a controlled approach and uses force sensors to detect when contact occurs or

How to Configure Contact Detection

To activate and tune contact detection:

1. Set an appropriate approach distance

   • Ensure the robot isn’t already in contact when the detection starts

2. Enable “Wait until sensor is steady”

   • Helps get an accurate force reading

   • Note: Adds a small delay to cycle time

3. Adjust force thresholds

   • Recommended: XY threshold = 55N for standard applications

4. Use Z overshoot for heavy boxes

   • Ensures physical contact with the layer before release

   • Particularly useful when releasing on uneven or compressible surfaces

Example Settings :

Impact on Cycle Time

• Contact detection introduces slight delays due to :

  • added approach 

  • sensor stabilization

Conclusion:

Contact detection is a valuable feature for ensuring accurate and safe box placement in various palletizing scenarios. It helps manage box variability, improves contact confidence, and reduces the risk of robot errors. Proper configuration can greatly enhance reliability with minimal impact on cycle time.

Updated: September 2025