The five-axis design satisfies most end-of-line palletizing applications. It provides the advantage of high-speed high-performance palletizing combined with a slim wrist and compact design that does not use parallel links for upper or lower arm; this eliminates interference zones within the work envelope. It is controlled by the Motoman XRC 2001 robot controller which features a programming pendant design fast processing and easy-to-use INFORM II programming language. Advanced Robot Motion (ARM) control provides high performance path accuracy and vibration control. Dynamic acceleration is based on payload so cycle time is reduced. PC-based offline programming is available as an option.