Troubleshooting¶

This section provides solutions and guidance for common errors that may occur during the planning phase of the setup process or while running the Jacobi Palletizer application. Follow the steps below to identify and resolve issues efficiently.

Common Errors During Motion Planning¶

Inverse Kinematics Solution Not Found¶

Error Message: Could not find an inverse kinematics solution.
Solution: In the Studio project, verify that the waypoints are reachable by the robot.

Collision Detected During Motion¶

Error Message: No collision free motion from '{start}' to '{goal}'.
Solution:
- In Studio, verify there aren’t any obstacles obstructing the path from the start to goal waypoints. Keeping safety in mind, adjust the size of custom collision objects or the waypoint locations.
- Verify that the joint limits aren’t preventing a potential collision-free motion.
- Adjust motion parameters, such as increasing place approach and/or retraction distances.

Note

The Jacobi motion planner plans trajectories that are highly time-optimized, jerk-limited, and collision-free. Using different obstacle geometries and adjusted joint limits ‘guides’ the planner with your constraints, while preserving the best tenets of our motion library.

Common Errors While Running the Application¶

Cannot Connect to Robot¶

Error Messages:
- Could not connect to robot.
- No robot connection based on PLC signal.
- Failed to enable robot.
Solution:
- Ensure you are running the correct Jacobi driver for the robot.
- Make sure signals are defined correctly in the Developer Settings.
- Consult the robot’s manual for specific troubleshooting steps related to hardware communication issues.
- Restart the palletizer application by running sudo snap restart jacobi-palletizer.

Setup Loading Error¶

Error Message: Could not find the setup for id {id}.
Solution: Verify the correct setup is active in the Setup page.

Tip

When encountering any issues while running the application, it’s a good practice to review the logs on the Logs page.

Additional Support¶

If the above steps do not resolve your issue, please contact our support team at contact@jacobirobotics.com for further assistance. Provide detailed information about the error and the steps you have already taken to troubleshoot.