Figure 1. Location of the robot singularity.
When the robot's J5 axis is at 0°, the robot will display alarm MOTN-023:
Figure 2 MOTN-023 alarm
When the robot executes action commands of type L, C, or A, and needs to pass through a singularity, the robot will generate an alarm MOTN-063.
Figure 3 MOTN-063 alarm
Singularity Handling Method 1: Singularity Handling Steps During Robot Teaching:
a) Switch the robot's teach coordinate system to the joint coordinate system.
Figure 2 Switching of teaching coordinate system
b) Jog the robot to move the J5 axis away from the 0° position. It is recommended to move it less than -3° or more than 3°.
c) Press the RESET button to reset the alarm.
Scenario 2: Encountering singularities during program execution. Method 1: Suitable for use when there are no precise point requirements.
When encountering a singularity while running the program, the action type of the action instruction can be changed to J, or the robot's position and posture can be modified to avoid the singularity in the path.
Method 2: Suitable for applications requiring precise location details.
Add an additional action command after the action command: Wrist Joint Action Command WJNT (full name Wrist Joint).
The Wrist Joint command does not control the wrist's posture during trajectory control (in standard settings, the wrist's posture is always controlled during program execution). This command can be used during linear, C-circular, and A-circular movements.
When a singularity is encountered, the program uses this instruction to change the wrist posture during the movement, avoiding the wrist axis reversal caused by the singularity, so that the tool center point continues to move along the trajectory.
Processing steps:
a) Move the cursor to the end of the line containing the singularity and press F4 to select.
b) Select Wrist Joint
c) Press the RESET button to reset the alarm.
d) Run the program and observe its trajectory.
