Event message 50171

abetanzos

I have been getting event message 50171 ever since upgrading to Robotware 5.08 and now 5.09 while performing a MoveL immediately following a SearchL. This error never appeared with ROBOTWARE_5.07.1030. I have contacted tech support regarding this error before and their recommendation was to use a MoveJ. A MoveJ does not maintain TCP orientation and in some cases could cause a crash if you are in close proximity to a part. It seems to me however that this is only a workaround at best. Has tech support identified other customers reporting this error? Is this a known bug? I have been able to reproduce this error in Robot Studio running Robotware 5.09. Is this a known bug or is it simply a handicap with performing SearchL? Again, this was never a concern with all firmware releases prior to 5.08. Also, the event message mentions something regarding singularity. From my experience, this error has occured repeatedly despite the robot being nowhere near singularity. What is going on here?