Machine Data
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2.1.151 $SINGUL_POS
Treatment of an undefined joint positions
Data type
int
min
Value
0
Unit
----
Value
max 1
Assignment
[1] [2] [3]
Configuration of the treatment of undefined joint positions on specification of a singular PTP
end point.
Description of the permissible values:
The value 0 means that the corresponding axis is moved to 0 degrees, while the value 1
means that the axis value of the start point is used.
0 Use theta=0 degrees
1 Use old value of theta
Example
If the end point of a PTP motion results in the wrist singularity (Alpha 5), the angles of
axes 4 and 6 cannot be determined unambiguously.
If $SINGUL_POS[3] is equal to 0, the angle of axis 4 will in any case be moved to
0 degrees, while the value 1 means that the value of the start point is retained for
axis 4. The angle of axis 6 is then adapted accordingly.
2.1.152 $DIS_WRP1
Average distance of wrist point from singularity 1 (Alpha1 singularity)
Data type
real
min
Value
----
Unit
----
Value
max ----
Assignment
----
2.1.153 $DIS_WRP2
Average distance of wrist point from singularity 2 (Alpha5 singularity)
Data type
real
min
Value
----
Unit
----
Value
max ----
Assignment
----
