SingularitySpeed Statement

Sets the singularity neighborhood angular velocity necessary for the singularity avoiding function.

Syntax
SingularitySpeed {Angular velocity}​

Parameters

Angular velocity

Specify the percentage of the Joint #4 angular velocity with respect to the maximum angular velocity (integer from 1 to 100. Unit: %) by a formula or a value for determining the wrist singularity neighborhood of the vertical 6-axis robot (including N series).

Result
Current SingularitySpeed value will be displayed if the parameter is omitted.

Description
This command is enabled only when the singularity avoiding function is being used.

Default is 10%. This command can be used to adjust the start position of the singularity avoidance. If the value smaller than the default is specified, avoidance motion starts at the point closer to the singularity. Usually, it is not necessary to change the parameter. This may be useful to reduce errors which occur when passing the singularity.

If SingularitySpeed parameter is changed, the current setting is effective until the next controller startup.

See Also
AvoidSingularity Function, SingualrityAngle, SingularitySpeed

SingularitySpeed Example

SingularitySpeed 30 'Sets the singularity neighborhood angular velocity at 30%