I'm having issues with singularity (axes 4 and 6 rotating really fast), and I've been reading this thread, (new link) where SkyeFire suggested avoid letting A5 approach 0°. This is however impractical for our application due to our mechanical setup/path profile. Someone's looking into changing the mechanical setup, but no easy way to do this for what we are doing.
In the mean time, I'm trying to set $SINGUL_POS[3] to 1 which will "The angle for axis 4 remains the same from the start point to the end point", and should avoid the problem I'm having with axes 4 and 6. I tried changing the value in R1\Mada\$machine.dat according to the Systems Variables manual, but that did nothing (after restarting the system). Am I changing the wrong value/file or is there a reason why the change didn't do what it should do?
I can provide a video of what the robot is doing now if that helps.