Auto singularity avoidance

Hello,

I was wondering how to disable singularity avoidance for a TP program. I think there's a header for it, but I'm not sure where to look. We have a LR mate 200iD with a R20iB controller. We're trying to use RTCP with a linear move, but it says

MOTN-203 error Not support AutoSA+RTCP

Thanks

Thank you so much! That worked.