Auto Singularity Avoid

Auto singularity avoidance is an option you will have to buy.

But first, look if you can change the problematic linear moves into joint moves.

If that is not possible, change the orientation of the arm so that axis 4 is not in line with axis 6. (most of the time that's the problem.)

Or change the angle of the tool and the axis-6 flange.

If that don't help, look at the variable :

$PARAM_GROUP[1].$snglrty_stp make it FALSE and do a cold start

WARNING !! This way the robot will not stop at a singularity witch can lead to very unpredictable movements !!

When this all don't help, you will have to buy the option...

Another option is to reevaluate your cell layout. Can you raise/lower/move the destination container to avoid placing the robot in singularity?

Singularities should always be considered/eliminated at the 'reach study stage' of any project such as (to name a couple):

1. Robot pedestal height.

2. Target object height.

3. Transitional areas (Air Moves).

kluk-kluk   rumblefish

I have to agree totally, to just buy an option, enable it and expect it eliminate the problem and not have any adverse effects could be an expensive purchase without exploring other options first such as physical layout alteration and couple of additional via points, touchups.

If you are in a position with Roboguide or can ask someone with Roboguide to put a quick simulation together and enable the option in software first and do some trial runs before blindly purchasing the option, you would have some 'simulation' results to bolster whether the option would be successful or not.

When you avoid singularities, cycle times will be better too.

With this option the robot slows down while travelling through singularities.
You activate it in the header of your TPE- program,.

Sometimes it helps to rotate the robot a little (J1).

Currently i'm also working with a robot where I have to use the option