Read the previous posts.
Keep getting singularity
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Abodame99 -
March 27, 2023 at 9:08 PM -
Thread is Unresolved
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Variable to disable singularity:
$AUTO_SNGSTP
$T1T2_SNGSTP
set both to false.
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FANUC recently also released a software option for temporarily changing the kinematics to 5-axis (basically disabling J4 and locking it in -180°/0°/180°) wich enables both jogging and program motion through singularity points.
Palletizing mode is the name of the option, I think.
Also, there is the Singularity Avoidance option, which will allow for minor posture/orientation changes during the linear motions through/near singularities.
FANUC recently also released a software option for temporarily changing the kinematics to 5-axis (basically disabling J4 and locking it in -180°/0°/180°) wich enables both jogging and program motion through singularity points.
Palletizing mode is the name of the option, I think.
Also, there is the Singularity Avoidance option, which will allow for minor posture/orientation changes during the linear motions through/near singularities.
I have already worked with this, it indeed prevents the singularity.
All the Lmoves in that program will be Palletizing mode then.
The conditions to use the Palletizing mode is that before you start the linear movement, the axes are already in the 'Depal' position: So J4 at 0 degrees and axis 5 at -180°/0°/180°). So better to move in Joint first to that axis config before selecting the program with the Palletizing mode.
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I have already worked with this, it indeed prevents the singularity.
All the Lmoves in that program will be Palletizing mode then.
The conditions to use the Palletizing mode is that before you start the linear movement, the axes are already in the 'Depal' position: So J4 at 0 degrees and axis 5 at -180°/0°/180°). So better to move in Joint first to that axis config before selecting the program with the Palletizing mode.
To my knowledge there is only the need for J4 to be in the predefined (-180°/0°/180°) position. You specify this as well as the direction of the wrist (downwards or upwards) in the program header where you enable the functionality.
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because J4 and J6 aligned, the robot have an infinit position to reach your tcp, to get out from sigularity change the position of J5 axis by at least +10deg and reteach your point you should be fine.
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