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 seriese model, Rx, Ry moment control is restricted and external moment value of each Rx, Ry direction is 0.
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
PY
set_singularity_handling(DR_VAR_VEL)
movej(posj(0,0,90,0,90,0),vel=30,acc=60)
set_palletizing_mode(DR_ON)
movel(posx(559,34.5,-400,45,180,45),vel=500,acc=1000)
set_palletizing_mode(DR_OFF)