Safety Manual TECHMAN ROBOT Safety System 3.3 37
The Solution when Encountering Singular
ity Point in
Space:
When the robot reports singularity, confirm the posture of the robot. If the tool end path crosses the internal cylinder
as shown in the figure below, check the first point description. If the rotational axes of the fourth and sixth joints of
the robot are parallel, check the second point description below.
1. When the arm reports a warning due to the Internal Singularity Point in Space, press the FREE button to release
it from the posture. Change the point position or change the motion type to PTP between the points to avoid the
arm path between the points crossing the Internal Singularity Point in Space, as shown in the figure below.
Figure 6: The Solution when Encountering Singularity Point in Space (1/2)
When the path crosses the Internal Singularity Point in Space, singularity will be triggered. Adjust the path and
confirm that it will not cross the Internal Singularity Point in Space.
2. When the robot reports a warning because of entering the Wrist Singularity Point in Space, press the FREE
button to release it. When the rotational axes of the fourth and the sixth joint are in parallel, if users still try to
perform Cartesian motion, the Wrist Singularity Point in Space will be encountered. At this time, the method in
the following figure can be used to avoid the rotational axes of the fourth and the sixth joints being parallel.
