Palletize Mode

1    Overview 
Palletize Mode is a specialized function designed to optimize robot posture during palletizing operations. When enabled, the robot can be moved while maintaining its wrist posture even when passing through a singularity by moving the robot with the target position (posture) always pointing down. This function is only available for the HC series of robots (HC10DTP, HC20DTP, and HC30PL). 

Ensure that the system meets the following requirements:
-    YRC1000 System Version YAS 5.26 or Later
-    YRC1000micro System Version YBS 4.15 or Later

2    Enabling Palletize Mode
To enable palletize mode the parameter shown below should be set.
 

• S1C1G526    1 = Palletize Mode enabled, 0 = Palletize Mode disabled

3    Operation Procedure
Palletize Mode can be used when all the following conditions are satisfied:
•    Palletize mode is enabled (refer to section 2 Enabling Palletize Mode)
•    Playback is in PLAY mode OR the user performs a “TEST START” in TEACH OR the user performs a “FWD” in TEACH
•    The job was taught in cartesian coordinates (e.g., relative job or P-variables taught with cartesian coordinates)
•    The coordinated control function, conveyor synchronization function, and external reference point control function are not being used

Once all the above conditions are satisfied, the robot will enable palletize mode and keep the wrist posture pointing down
If the user wants to disable palletize mode temporarily in a job, it can be done via an inform command.
-    From the inform list select “MACRO”

 
-    After selecting “MACRO” select “PLTZOF”

Inserting this command will temporarily disable palletize mode. To re-enable palletize mode, simply select “PLTZON” from the same inform list section.

4    Notes
4.1    PLTZOF
If the PLTZOF command is used in TEACH mode to temporarily disable palletize mode, it will remain disabled until the user manually moves the cursor to a different line—this action will automatically re-enable palletize mode.