PickMaster 3.4 Warning 4321 generated

Sofikitis

Hello,

we have a pick and place system with 6 IRB360 + 3 Cognex GigE cameras for every two robots and each robot has 1 picking workarea and 2 placing indexed areas.

When the production starts the robots start the operation (PnP) but during the operation at exactly 2000 pick and place cycles per robot the following warning starts appearing in the PM log

Warning 4321 Item acknowledgment received from xxxxxx but the corresponding item position was not found.  (xxxxxx is the name of the place workarea)

This message keeps coming up for every PnP cycle of the robot. The only way to stop the warning is the Stop the robot from the Pickmaster or RIS and restart it.

If we do not stop the robot, in order to stop the warning, after approximatelly 1000 cycles the PM stops freezes all the robots and the complete system needs a restart.

Has anyone any ideas on how to avoid that and why this appears?

Thanks in adnvance,

Regards