Does FANUC have a palletize mode feature similar to KUKA?
Kuka has $PAL_MODE that keeps the EOAT flange level to the base of the robot. For a six-axis robot this essential removes control of A4 and A5. in PAL_MODE; A4 remains at zero and A5 automatically adjusts to maintain the tool orientation. In joint mode, A4 and A5 cannot be jogged. In cartesian modes, tool can be rotated around Z-axis but no rotation in X/Y.