P Model Exclusive Feature

Unlike other robots, the P model does not have 4 axes, so its manual motion functions operate differently.

Palletizing Mode

Provides the ability to set palletizing mode, a special mode for the P model.

Palletizing mode can only be used when the Z-axis of the base and the Z-axis of the flange are aligned. An alignment function is provided in palletizing mode, which is a function that aligns the Z axis of the base and the Z axis of the flange.

Joing Jog

The P model does not have a 4-axis, so 4-axis jog is not provided.

In palletizing mode, only axes 1 and 6 can be operated to avoid disrupting the alignment of the flange.

Task Jog

The P model provides Tilt and Rot rotation functions instead of Rx, Ry, and Rz rotation jog functions.

Tilt rotation rotates the TCP around the 5-axis rotation center.

Rot rotates the TCP around the 6-axis rotation center.

Tilt rotation is not available in palletizing mode, but instead guarantees the rotation direction of the current TCP when performing position jog movements.

Align Motion

The P model can only align the Z axis of the base and the Z axis of the flange.

Therefore, only forward aligning and reverse aligning functions are provided.