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.
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Normally velocity don’t be changed in this mode. But if current joint velocity exceed allowable max joint velocity, velocity can be reduced automatically.
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In case of H series model, Rx, Ry moment control is restricted and external moment value of each Rx, Ry direction is 0.
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set_singularity_handlingandset_palletizing_modecannot be used simultaneously. -
When
set_palletizing_mode(DR_ON)is active, you must first switch toset_palletizing_mode(DR_OFF)before configuringset_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
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