SRVO-114: Singularity Detected
The robot hit a singularity during motion - a pose where the wrist axes align and Cartesian motion math breaks down.
What it means
The robot hit a singularity during motion - a pose where the wrist axes align and Cartesian motion math breaks down. Servo-side sibling of MOTN-023: same geometry problem, caught during execution. It's a path problem, not a hardware problem.
Common causes
Ranked by what technicians most often find, most likely first.
- Programmed path passing through or too near a wrist singularity (J5 near zero with linear/circular motion).
How to fix it
- Re-teach the offending points to keep the wrist away from the singular pose.
- Use WJNT (wrist joint) motion option where the path allows - note tool orientation isn't held through the move.
- Or switch the motion type to JOINT through the singular region.
Quick facts
- Category
- Servo
- Affected series
- R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
- Alarm family
- SRVO