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set_palletizing_mode()

Definition

set_palletizing_mode(mode)

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.

  • Deactivate mode : DR_OFF

  • Activate mode : DR_ON

Caution

  • Setting tool orientation, B must be set to 0deg or 180deg when setting tcp information. If this condition don’t be satisfied, Error is occurred when using this function.

  • Normally velocity don’t be changed in this mode. But if current joint velocity exceed allowable max joint velocity, velocity can be reduced automatically.

  • In case of H series model, Rx, Ry moment control is restricted and external moment value of each Rx, Ry direction is 0.

  • set_singularity_handling and set_palletizing_mode cannot be used simultaneously.

  • When set_palletizing_mode(DR_ON) is active, you must first switch to set_palletizing_mode(DR_OFF) before configuring set_singularity_handling().

Parameters

Parameter Name

Data Type

Default Value

Description

mode

int

DR_ON

DR_OFF : Deactivate mode

DR_ON : Activate mode

Return

Value

Description

0

Success

Negative value

Error

Exception

Exception

Description

DR_Error (DR_ERROR_TYPE)

Parameter data type error occurred

DR_Error (DR_ERROR_VALUE)

Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME)

C extension module error occurred

DR_Error (DR_ERROR_STOP)

Program terminated forcefully

Example

Python
movej(posj(0,0,90,0,90,0), vel=30, acc=60)  # Joint movement

set_palletizing_mode(DR_ON)               # Turn on palletizing mode
movel(posx(559,34.5,-400,45,180,45), vel=500, acc=1000)  # Linear movement
set_palletizing_mode(DR_OFF)              # Turn off palletizing mode after operation

# You must configure singularity handling only when palletizing mode is OFF.
set_singularity_handling(DR_VAR_VEL)        # Set singularity handling mode

Keyword

set / palletizing / set_ / set_palletizing / palletizing_mode