Point singularity

[Paolo]

Hello everyone,how can I pass through a point of singularity?
Is there any particular movement or function?
Controller DX100

Thanks

[Paolo]

No one can help me?
 

[potis]

there are many ways to get to singularities. in these the robot cannot choose which axis to move as you can have the same result even if you move axis 4 or 6 fe. you must try with different orientation or use a very close point movj to overcome the singularity point and then continue normal.  try it in teach to check the result first.

[roboprof]

You should really try to avoid singularities by making sure that the U axis and B axis are not co-linear or parallel - even bending the B axis a little will avoid singularity issues.  Most Motoman robots will pass through singularity points, but with a lot of unnecessary motion on the R axis - and possibily causing Excessive Segment - High or Low Speed alarms.  The only way to know if you will get through the singularity is to test the job with Interlock/Test Start, and then to Play it.  As potis said, try it in teach to check the result first, then in play.

Hope this helps

[Paolo]

Ok grazie

[amarkangda]

Its not a big issue as far as motoman robots are concerned. There is no function as such but it can be achieved mostly by changing the orientation of the B-Axis. May be you will have to compensate on the Angle in some cases

[Paolo]

Ok grazie molto