MOTN-023

    Hey Guys i´m having som trouble.

    I`m getting the MOTN-023 In Singularity alarm, I have tried running programs, that is not happening.

    Can´t even make new ones?
    Can´t move the robot other than in joint?
    Can´t get rid of the alarm?

    Controller R-30iA Mate
    Robot LR Mate 200iC

    Help me out x.x

    New info!

    I aparently lost its home pos. and maybe this is why I get the motn-023, trying to recover but having difficulties.

    Edited once, last by ILoveRobots (June 3, 2014 at 1:30 PM).

    This alarm occurs when axis 4 and 6 are almost in the same plane or when then position the robot is moving to will put axis 4 and 6 near the same plane.
    Move axis 5 in joint about 5 degrees. Check any programs to make sure that the linear moves do not end up in singularity. If it does change the config to joint and modify or add positions to the program to fix it.

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