Palletizing: Adjust Robot Clearance Height when Returning to Start Position

bcobb

We have a palletizer utilizing the Palletizing PowerPac that stacks different sized boxes onto a pallet. We have an issue with a single box size: when the box size is correctly set on the flex pendant to drop at a suitable height, the robot will sometimes catch boxes as it returns to the box pick position. In order to correctly clear the top of the pallet at the higher levels, the robot must drop from a full box height above the stack, causing poor stacks. It appears that the robot is not correctly calculating the height needed to clear the stack as it returns home, despite correctly calculating the position to place.

All offsets and displacements are set to zero, just as the other boxes. All other patterns correctly clear the stack as the robot returns to position. Are there any other settings that might affect the height the robot calculates to clear the stack as it returns?