MOTN-023: Robot in singularity
The robot's Cartesian path or jog passed too close to a singularity, a configuration where the arm can't resolve a unique joint solution for the commanded Cartesian move.
What it means
The robot's Cartesian path or jog passed too close to a singularity, a configuration where the arm can't resolve a unique joint solution for the commanded Cartesian move. This can happen during motion, Cartesian jogging near the J1 singularity, or when an offset (tool, vision, or position offset) lands near a singular pose.
Common causes
Ranked by what technicians most often find, most likely first.
- A programmed Cartesian motion path runs near a singularity.
- Cartesian jogging brought the robot close to the J1 singularity.
- The position before an offset, or the tool or vision offset itself, resolves near a singularity.
How to fix it
- Reteach the affected position to steer clear of the singularity, or switch that segment to Joint motion.
- Use Joint jog to move the robot away from the singularity.
- For offset-related cases, apply the reteach/Joint fix to the position before the offset. If offsets are stacked, correct the pre-offset position for each one.
Quick facts
- Category
- Motion
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- MOTN