Error handler for Singularity issues

SteveMob

Hello,

I am doing some programming with LabVIEW and RAPID. Basically my setup is, LV sends RS target points and then a command to move to those points. So far I have error handling done for targets out of reach, and joint limitation errors. I was wondering if there was an error handler for checking/fixing singularity issues when moving in Linear mode?

Along those lines, if there isn't an error handler for singularity, and I would need to make my own errnum, is there a way to find out what error number that singularity is throwing out?

Thanks for any help!
SM