Singularity threshold during EGM


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


Sign In or Register to comment.