MOTN-153: Joint Move Too Fast Near Singularity
A joint angle move exceeded the allowed tolerance.
What it means
A joint angle move exceeded the allowed tolerance. The motion likely became too fast because the path routes through or near a singularity point.
Common causes
Ranked by what technicians most often find, most likely first.
- The taught path passes through or close to a singularity point, forcing a rapid joint angle change.
How to fix it
- Reteach the point to remove the singularity from the path.
Quick facts
- Category
- Motion
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- MOTN