MOTN-159: Invalid joint data near singularity
The joint data for the indicated line is invalid.
What it means
The joint data for the indicated line is invalid. The recorded position may be near a singularity point where the robot's configuration changes, which makes the joint data unusable.
Common causes
Ranked by what technicians most often find, most likely first.
- Recorded position sits at or near a singularity point.
- The configuration changed at the recorded point, leaving inconsistent joint data.
How to fix it
- Re-record the affected position data.
- When re-recording, keep the taught point away from the singularity.
- Avoid recording at the point where the configuration changes.
Quick facts
- Category
- Motion
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- MOTN