Palletizing Mode for CRX and Standard 6-axis Robots

In this video, Sterling Shepherd, a senior engineer at FANUC America, introduces the palletizing mode feature available on the CRX robots, with a software version of V9.40p/47 or later. This mode enables Cartesian motion that passes through the wrist singularity, resulting in a 6-axis robot behaving like a 4-axis robot when passing through the singularity point. Sterling guides viewers through a quick, three-step process to enable Palletizing Mode during programming using the Tablet TP. Start by going to the TP program header details, enable palletizing mode in the header, then use joint motion to align the wrist downward, and you may start palletizing with Cartesian (linear) motions. For manual guided teaching on CRX series robots only, there is another three step process to enable the Palletizing Mode. Step one is to use the Move To button in the align panel to get the wrist downward, next enable the palletizing mode in manual guided teaching panel and finally hold in the dead man switch or manually enable freehand teach. However, when you are using a traditional iPendant, navigate to the Program Select page, click Detail, Next, and you will have the choice to enable palletizing by choosing “true” and can disable it with “false.” The video also explains how to jog robots in Palletizing Mode, how to set the jog mode to palletizing, and why it is important to understand the conditions necessary for a successful operation. Sterling then walks through a demonstration, to help visualize how to transition using the Palletizing Mode. He emphasizes the need to match your starting positions and destination positions with the defined J4 fixed angle you set in the TP header to avoid errors. Finally, he shares helpful troubleshooting tips and points out common palletizing alarms, so users know what to watch for when something goes wrong.