Features
During palletizing application motion, path tracking and velocity can be maintained around the wrist singularity point using this function. there is no instability in wrist singular region when B in motion command is set to 0deg or 180deg.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
iMode |
unsigned char |
- |
0 : disable 1 : enable |
Return
|
Value |
Description |
|
0 |
fail |
|
1 |
success |
Example
Python
Drfl.set_palletizing_mode(1);
Drfl.set_palletizing_mode(0);