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Robot Does Not Pick a Box

The robot moves to the pick position but does not perform a pick action

Context
This article helps troubleshoot a situation where the robot reaches the pick position but fails to pick a box. The issue is usually linked to the box detection sensor not sending the correct signal to the robot.

Possible Causes

The robot will only attempt to pick a box if the box is detected by the dedicated sensor. The following conditions can prevent proper detection:

  • The sensor's sensitivity is not adjusted correctly.

  • The sensor’s Light-on / Dark-on switch is in the wrong state.

  • The sensor’s signal is not connected to the expected robot Digital Input (DI).

  • The sensor is not powered with a proper 24 V supply.

  • The sensor or its cable is damaged and cannot deliver the detection signal.

Troubleshooting Steps

  1. Adjust the sensor sensitivity and Light-on / Dark-on switch

    • Place a box at the pick location.

    • Turn the sensor’s adjuster and switch until the yellow LED turns ON, indicating detection.

    • polomolo

  2. Verify sensor wiring and connections

    • Ensure that:

      • Brown wire = 24 V

      • Blue wire = 0 V

      • Black wire = Digital Input (DI)

    • Refer to the diagram above to validate the wiring.

    Note: The robot controller must be powered ON to supply 24 V to the sensor.

  3. Check which DI is used in the program

    • Go to Installation → I/O Setup.

    • Place an object in front of the box sensor.

    • Check if the expected DI changes state.

    • Confirm this DI matches the one used in the Palletizing node of the robot program.

  4. Inspect for physical damage

    • If the yellow LED never turns on despite all adjustments:

      • The sensor or cable might be defective.

      • Contact Robotiq Support for further assistance.

Conclusion
If the robot doesn't attempt to pick a box, the issue is likely related to the box detection sensor setup or wiring. Follow the steps above to validate sensitivity, wiring, and input configuration. Still having trouble? Contact Robotiq Support.