Does anyone know if ABB has a function that will help the the manipulator travel through circular path even though axes 4 and 6 are in singularity?
it is for IRC5 controller
thanks
Does anyone know if ABB has a function that will help the the manipulator travel through circular path even though axes 4 and 6 are in singularity?
it is for IRC5 controller
thanks
Maybe "singarea" helps.
Singarea\Wrist; But this might make a very different path than usual, so be careful.
ConfL\Off , ConfJ\Off might also work if the robot chose to take another cofiguration on the position, but its main purpose isn't for singularities.
Even though you have stated IRC5, the version of robotware will matter. Newer robotware has additional options like lock axis 4 for singularity avoidance. But you mention also a circular move, so that probably makes it even more complicated. Is there a possibility to move the workpiece or change the EOAT to put you in a better configuration for your programming?