SetSingularAvoid
(Library)
[Ver. 2.61 or later]
Enable or disable the singular point avoiding function. (for 6-axis robots)
SetSingularAvoid(<ON·OFF>)
If <ON·OFF> is 1, the singular point avoiding function becomes enabled; if it is 0, the function becomes disabled.
Enabling the function suppresses a large 4-axis rotation that is caused when the 5 axis passes through the vicinity of 0 degree in linear, arc or free-curve motion under CP interpolation control.
Requires a <pacman.h> file.
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This function does not take effect in 4- and 5-axis robots.
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This function does not take effect under PTP interpolation control.
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When this function is enabled, the robot arm may greatly go out of the original path depending on the motion conditions.
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The singular point avoiding function does not work on older engine boards.
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PROGRAM PRO1
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TakeArm
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'Obtain the control priority.
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MOVE P, P1
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'Move to P1 in PTP motion.
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CALL SetSingularAvoid (1)
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'Enable singular point avoiding function.
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MOVE L, P2
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'Move to P2 under linear interpolation
'control.
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CALL SetSingularAvoid (0)
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'Disable singular point avoiding function.
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END
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