Instead of your nightly rotation, you can book at Palo's which is for adults only. So, if you are on the 3 night cruise, you would need to skip one of the three and replace it with Palo's.
Although, some people have double dipped (say if they had 8:30 dining, booked at Palo at 6:00 and still went to the rotational dining at 8:30).