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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. A wrist singularity occurs in postures where axes 4 and 6 become aligned, causing axis 5 to rotate abruptly. This mode is intended for palletizing applications in which the tool faces along the base Z-axis (up or down). It serves the same purpose as set_singularity_handling() (handling the wrist singularity), but the two cannot be used simultaneously.

  • Deactivate mode : DR_OFF

  • Activate mode : DR_ON

Caution

  • The tool Z-axis must be parallel to the flange Z-axis to use this function. An error occurs if this condition is not satisfied. Setting both Ry and Rx of the rotation angles in Tool Settings to 0deg or 180deg satisfies this condition. Rz does not affect the condition.

  • The velocity is not changed in this mode. However, if the current joint velocity exceeds the allowable maximum joint velocity, the velocity is automatically reduced.

  • For H series models, Rx and Ry moment control is restricted when force control is used with this function, and the external moment value in each of the Rx and Ry directions 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().

  • This function does not apply to P series models.

Parameters

Parameter Name

Data Type

Default Value

Description

mode

int

DR_ON

DR_OFF(0) : Deactivate mode

DR_ON(1) : 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
                                          # The rotation values of posx are the motion target pose,
                                          # separate from Rx/Ry in Tool Settings.
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