Command 1352: Sets the singularity avoiding function

Sets the singularity avoidance function.

Command Syntax

	bit	Name	Description
Parameter 1	15	setting	1: Enables the singularity avoiding function. 0: Disables the singularity avoiding function.
	14
	｜
	1
	0

Response Syntax

Refer to the following.

Response Codes

Description

This command is available for following commands.

Move, Arc, Arc3

A singularity avoiding function is to prevent acceleration errors when the vertical 6-axis robot approaches to the singularity in CP motion by passing a different trajectory and returning to the original trajectory after passing the singularity. This function is only applicable for the wrist singularity.

Since the singularity avoiding function is usually set to “1: Enabled” at the controller startup, it is not necessary to change the setting. If you do not want a singularity avoidance to ensure compatibility with software which does not support the singularity avoiding function, or to avoid a trajectory gap, disable the function.

If the parameter is changed, this function remains enabled until the next controller startup.

At the controller startup, the singularity avoiding function has the setting specified in the controller setting (factory default: 1).

Note

Condition setting of singularity neighborhood

To determine whether the manipulator approaches to the singularity neighborhood, angle of Joint #5 and angular velocity of Joint #4 are used.

By default, Joint #5 angle is set to ±5 degree, and Joint #4 angle is set to ±10% with respect to the maximum joint velocity.