I got a problem. When I drive the robot in the world mode he stops at a point immediately at a point. This point are not the zero point of the axis. There is a kind of a virtual stop. Maybe a frame? Where can I find this?
Thank you!
Virtual stop
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Robert Keinstein -
October 29, 2016 at 1:04 PM -
Thread is marked as Resolved.
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Do you have DCS installed? Menu, next, system, DCS. If not maybe a soft limit?
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Are any alarms/notifications posted on the top line of the teach pendant?
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I'm not sure. I think There was an alarm with "singularity..."
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http://blog.robotiq.com/why-singularities-can-ruin-your-day
My guess is that you are dealing with a wrist singularity, they're the most common.
If the robot is new enough, you can use the function key to toggle singularly jogging mode, however the robot will jog very slowly through these areas.
It's always best to avoid singularities in the first place with a proper mechanical layout that will keep the robot from having to work near it's singularities.
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Joint mode can frequently let you get through a singularity - especially if it's axis 5... but expect a path deviation.