MOTN-019: Robot Near Singularity
The robot has reached or is passing through a singularity during Cartesian motion.
What it means
The robot has reached or is passing through a singularity during Cartesian motion.
Common causes
Ranked by what technicians most often find, most likely first.
- A programmed Cartesian (linear) path passed too close to a singularity.
- Cartesian jogging brought the robot near the J1 singularity.
How to fix it
- Reteach the taught position to keep the path clear of the singularity, or switch that move to Joint motion.
- Use Joint jog to move the robot out of the singularity.
Quick facts
- Category
- Motion
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- MOTN