Singularity Avoidance Function

Overview

Singularity avoidance function is a function to control the behavior of the 4th-axis spinning greatly when the 5th-axis passes near 0 degree during CP motion (linear).

Motion to avoid a singular point by this function is called a singularity avoidance motion.

The robot shifts to the singularity avoidance motion when either of the following conditions is met.

1. While a CP motion command (such as Move L) is executed, the robot figure of the current position and that of the target position are different.
2. While a CP motion command (such as Move L) is executed, both of the following conditions are met; 1) The robot figure of the current position and that of the target position are the same. 2) Taking a different wrist figure will result in the smaller 4th-axis rotation angle than keeping the current wrist figure.

Setting Procedure

There are the following three ways to set the singularity avoidance function.

• Setting with PacScript
• Setting with WINCAPSIII
• Setting with smart TP

Setting with PacScript

You can set by the dedicated command of the singularity avoidance function.

For details, refer to "SingularAvoid" in Command Reference.

Setting with WINCAPSIII

Operation path: Project menu - [Parameter] - [User]

Display the parameter editing window by above operation path.

You can set by user parameter No.60 [Setting of singularity avoidance mode].

0: Disable

2: Enable

Setting with Smart TP

Operation path: [F2 Arm] - [F6 Aux] - [F1 Config]

Display the [Config] window by above operation path with smart TP.

You can set by configuration parameter [60: Setting of singularity avoidance mode].

0: Disable

2: Enable

Attention

The motion that the singularity avoidance function works effectively is linear motion only. In arc motion, the singularity avoidance function does not work.