Singularity threshold during EGM

Hi,
I've done a few tests in RS as well as on a real robot and I'm getting inconclusive results. I've seen the robot fault ~25° before an actual singularity and sometimes I can get as close as ~3°.
Fault is always 50456 'Close to singularity while External Motion Interface active'
I get similar results jogging the robot with the Pendant as well as controlling it through EGM.
Is there a defined angular limit at which the robot faults due to being near a singularity? Is that limit adjustable?
I'm mainly concerned about joint 3, and would like to monitor the angle to avoid singularities.
Thank you
I've done a few tests in RS as well as on a real robot and I'm getting inconclusive results. I've seen the robot fault ~25° before an actual singularity and sometimes I can get as close as ~3°.
Fault is always 50456 'Close to singularity while External Motion Interface active'
I get similar results jogging the robot with the Pendant as well as controlling it through EGM.
Is there a defined angular limit at which the robot faults due to being near a singularity? Is that limit adjustable?
I'm mainly concerned about joint 3, and would like to monitor the angle to avoid singularities.
Thank you
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I'm looking for some information on what joint angle limit the robot considers a singularity, and if that is adjustable.
Thanks