help for rj controler arcmate 120

    When i calibrate robot, after turn on robot, i move robot in Joint'coordinate then normal buy in XYZ'coordinate then robot display error "MOTN–023 STOP In singularity".I think can i calip robot not correct, I have try calip but.... Please help me...Thanks :help:

    Edited once, last by GWrobotic (December 4, 2013 at 3:53 AM).

    for calip robot i have do these step...please help me
    Press MENUS.
    3 Select SYSTEM.
    4 Press F1, [TYPE].
    5 Select Master/Cal.
    If Master/Cal is not listed on the [TYPE] menu, do the following;
    otherwise, continue to Step 6.
    a Select VARIABLE from the [TYPE] menu.
    b Move the cursor to $MASTER_ENB.
    c Press the numeric key “1”and then press ENTER on the teach
    pendant.
    d Press F1, [TYPE].
    e Select Master/Cal
    Select Zero Position Master.
    7 Press F4, YES. Mastering will be performed automatically.
    8 Select Calibrate.
    9 Press F4, YES.
    10Perform a cold start.
    a Turn off the robot.
    b Press and continue pressing the SHIFT and RESET key on the
    teach pendant.
    c While still pressing SHIFT and RESET, press the ON button on
    the operator panel.

    Luckily it ihas nothing to do with the mastering.
    You will get that error when two axis are in line with eachother, (most of the time axis 4 and 6) the robot can't calculate wich axis to move, and it stops.
    Reteach the points with a slight angle between the axis involved, and the problem pops away.

    There is a variable $PARAM_GROUP[1].$SNGLRTY_STP, when changed to FALSE, the robot will ignore the error, but movement can be unpredictable in that case.
    You will have to cold-start to change.

    Thanks kluk-kluk for share.I will change $PARAM_GROUP[1].$SNGLRTY_STP is FAULT. but I have a question, You say" Reteach the points with a slight angle between the axis involved" i don't understand. Can you explain further and I have a question when i calibrated finish then $MASTER_ENB auto set to "0" or still set "1".

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