SingularityDist Statement

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

Syntax
SingularityDist {distance}​

Parameters

distance

Specify the distance between the point P and Joint #1 rotation axis (real number equals to or larger than 0. Unit: mm) by a formula or a value for determining the shoulder singularity neighborhood of the vertical 6-axis robot (including N series) and RS series.

Result
Current SingularityDist 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 30 mm. 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 SingularityDist parameter is changed, the current setting is effective until the next controller startup.

See Also
AvoidSingularity, SingularityAngle, SingualrityAngle Function, SingularityDist Function, SingularitySpeed, SingularitySpeed Function

SingularityDist Statement Example

SingularityDist 10.0 'Sets the singularity neighborhood distance at 10 mm