Hi pancholiph, one always wants to avoid singularity, because any robot moving through singularity will have a shortened life span on the 4th and 6th axis. I don't really know where one would find such information. All I can tell you is that the speed reduction will help as the robot will not move at full speed through the singularity.
I had the same problem with a glueing application on car side frames, where the cell space was just too small not to move through singularity.
Good Luck!
Hi all,
Thanks for the replies, so to answer:
SkyeFire: As i rotated the A orientation, I just moved the x and the y positions of the temporary base (BASE_DATA[2]), the position was right but still in the same pattern as the first layer. So what I'm doing now is creating duplicate programs and mirroring the drop positions for the second layer (and just touching them up) .
Leon: Im using 2 different bases in the drop program, where base 2 is used for the drop positions and then transformed to the second layer height for the second loop.
@Love Bird: The final program is going to be done on an ABB (which I have no clue how to use yet), but our test cell in the workshop allows me to start testing the Logic so far. I doubt that we will get any palletizing software for the robot. So HardCoding it is 
My base is in the top left corner of the picture, I understand what you're saying about the fact that only rotating at 90 degrees wont work, I tried that, but I only got the same orientation of the boxes on the second layer. im going to try and make my base dead centre now, and see if this works (the pallet would be square). I was thinking for the third layer i would just rotate the base back to 0 degrees, and for the 4th layer again to 90 degrees.
I have no experience in palletizing, so im just going with my gut feeling. I attached a picture of how the client wants the palletizing done.
Thanks for the help by the way ! 
Good day,
I'm having trouble with a Palletizing program which should Palletize boxes in a certain way (pattern included in attachments), the problem I'm having is to Mirror the base on the second level of boxes.
I started by having a program for every box on the first layer(8 drop programs), but, as I thought it would work if I just Rotate the temporary axis in the A orientation on the second layer. I got the rotation right, but the boxes are still in the same orientation as the first layer 
.
So my question is, would it be possible to mirror the temporary base on the second layer, so that I don't have to write 32 programs for every box of the pallet?
Base 2 is my Temporary base, and Base 3 is my reference base.
Here is the main Program code:
BASE_DATA[2]={x 1972.75403,y 865.13678,z 455.0,a 0.0,b 0.0,c -0.0} ;Resetting the base data when I run the program
FOR LayerCount = 0 to 2 ;
p_pick()
p_drop1()
p_pick()
p_drop2()
p_pick()
p_drop3()
p_pick()
p_drop4()
p_pick()
p_drop5()
p_pick()
p_drop6()
p_pick()
p_drop7()
p_pick()
p_drop8()
LayerCount = LayerCount + 1
Base_Offset()
ENDFOR
END
------------------------------------------------
DEF Base_offset()
BASE_DATA[2]=BASE_DATA[3]
BASE_DATA[2].X = BASE_DATA[2].X-680
BASE_DATA[2].Y = BASE_DATA[2].Y-460
BASE_DATA[2].Z = (LayerCount * 455)+455
BASE_DATA[2].A = LayerCount * 90
END
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