I have experience in RAPID language, in rarely moments, I needed to avoid singularity or using CONF(J/L)\ON or moving one axis by instruction, like move an axis 15° degrees.
I search for similar function on Inform Language (i'm using YRC1000), and didn't find anything similar.
My question is:
Is there possible to Avoid singularity with MOTOMAN like ABB robot? (without move to another coordinate)