set_palletizing_mode

During palletizing application motion, path tracking and velocity can be maintained around the wrist singularity point using this function. There is no instability in the wrist singular region when the B-axis of the robot is commanded to 0° or 180°.

This mode improves motion smoothness and precision during repetitive pick-and-place or stacking operations in palletizing applications.

Definition
DRFLEx.h within class CDRFLEx, public section (line 916)

bool set_palletizing_mode(unsigned char iMode)
{
    return _set_palletizing_mode(_rbtCtrl, iMode);
};

Parameter

Parameter Name	Data Type	Default Value	Description
iMode	unsigned char		Sets palletizing mode 0: disable palletizing mode 1: enable palletizing mode

Return

Value	Description
0	fail — function call unsuccessful
1	success — palletizing mode changed successfully

Example

#include "DRFLEx.h"
#include <thread>
#include <chrono>
using namespace DRAFramework;

int main() {
    CDRFLEx Drfl;

    // Enable palletizing mode
    // This stabilizes wrist motion near 0° or 180° to prevent singularities
    Drfl.set_palletizing_mode(1);

    // Move to the starting position of palletizing task
    float startPos[6] = {600, 0, 300, 180, 0, 180};
    float vel[2] = {50, 50};
    float acc[2] = {60, 60};
    // Drfl.movej(startPos, vel, acc);

    // Simulate repetitive stacking motion (pseudo-code)
    for (int i = 0; i < 3; ++i) {
        float placePos[6] = {600, i * 100.0f, 150, 180, 0, 180};
        // Drfl.movel(placePos, vel, acc);
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    // Disable palletizing mode after stacking operation
    Drfl.set_palletizing_mode(0);

    return 0;
}

This example enables palletizing mode to stabilize wrist motion around singular angles (0° or 180°) during repetitive stacking tasks. After completing the operation, palletizing mode is disabled to return the robot to normal motion behavior.