SingularityAngle Statement

Sets the singularity neighborhood angle necessary for the singularity avoiding function.

Syntax
SingularityAngle {angle}​

Parameters

angle

Specify the Joint #5 angle (real number equals to or greater than 0.1. Unit: deg) by a formula or a value for determining the wrist singularity neighborhood of the vertical 6-axis robot (including N series).

Result
Current SingularityAngle 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 deg. 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 SingularityAngle parameter is changed, the current setting is effective until the next controller startup.

See Also
AvoidSingularit, SingualrityAngle Function, SingularitySpeed

SingularityAngle Statement Example

SingularityAngle 7.0 'Sets the singularity neighborhood angle at 7 degrees