Singularity error number?

Hello,

Does anybody know what the error number for singularity issues is?

Thanks,
SM

Answers

  • Neily03
    Neily03 United Kingdom ✭✭✭
    Should be listed in the manual.
  • SteveMob
    SteveMob USA
    edited May 2016
    I cannot find the actual error number in the manuals I have. Which manual are you referring to? Basically I am trying to do some error handling by checking the targets before trying to move to them. If they detect that singularity will be an issue, than handle that error before trying to move to the target. Any suggestions?

    Thanks,
    SM
  • PerSvensson
    PerSvensson Sweden ✭✭✭
    The most common singularity problem is when axis 5 goes thru 0 deg in linear motion (+ to - or - to +). There are some other cases when using bend back robots. So one way could be that you check where axis 5 is right now and then Use CalcJointT to calculate the axis values for the target you want to go to and see axis 5 is going thru 0 deg.
    Per Svensson
    Robotics and Vision Specialist
    Consat Engineering
  • SteveMob
    SteveMob USA
    So there isn't an actual error number to do some error handling for it?

    What do I do when axis 5 does come to zero? Like SingOff or something?

    Thanks,
    SM
  • PerSvensson
    PerSvensson Sweden ✭✭✭
    Yes SingArea\Wrist if you want to do a linear motion thru the singlularity point or do a joint motion (MoveJ) thru it.
    Per Svensson
    Robotics and Vision Specialist
    Consat Engineering
  • SteveMob
    SteveMob USA
    Ok I will try that. Can you show me an example of how to check for the axis 5 angle? Like I have my CalcJointT code setup, but I am not sure how to check to see if axis 5 is approaching 0 degrees. Can you show me an example? Like could I just use an IF statement?

    Thanks,
    SM
  • SteveMob
    SteveMob USA
    So I found a way to check for the axis 5 angle. I am using CJointT and CalcJointT to check for singularity issues for the robot either in its current position, or the target it is about to move to. I am checking for if Axis 5 is 0, then SingArea\Wrist. The problem I am having is that after I perform a MoveL to the target that needed SingArea\Wrist, the next target I still try to MoveL to, it doesn't do it linearly. So I guess my question is, is there a way to turn SingArea off, like reset it? Or is it only "active" for the first MoveL and then automatically deactivates?

    Thanks,
    SM