Hi.
When I create program, and start programming from home position, and when i want to start programn, I alwqys get alarm in singularity.
Hi.
When I create program, and start programming from home position, and when i want to start programn, I alwqys get alarm in singularity.
The exact alarm code whould help. Also what robot model are you using? I am assuming a six axis robot and you got a MOTN-023 error.
Likely J4 and J6 are exactly parallel in the position where you want to move to and you are using a linear move. You could do:
- teach that position differently
- always move with joint moves from and to this position
- use a Linear move with wrist joint
- maybe the Singularity Avoidance option would help, I am not 100% sure though
try as possible to orient your J5 on -90 degrees or less
Problem was, that point position was cartesian not joint.
Thanks.
- Use the TCP trace to modifiy your point to have a good orientation
- Try to work again on your tool if it is a study for project
-Or use Joint move but you can lost cycle time or make collisiion depends of ur environnement.
Did you tried to simulate a cell in roboguide?
Hello !! The robot is unable to perform the desired movement. Check your machine's limitations, or look at the coordinate mode. Try switching between Joint, World or User to remove the singularity.
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