30
Viper 650 and 850 Robot with EtherCAT
21861-000 Rev A
Singularities
A singularity is a condition caused by the collinear alignment of two or more robot axes, res-
ulting in unpredictable robot motion and velocities.
IMPORTANT:
For safety reasons, you should always avoid all robot workspace
boundary locations.
NOTE:
There are no singularities for joint-interpolated move commands. This
means that a joint-interpolated move command can be used to get out of a sin-
gularity encountered in another type of command.
2.5 Intended Use of the Robot
This section lists the intended uses, and prohibitions for use of OMRON industrial robots.
!
DANGER: PERSONAL INJURY RISK
This robot is not a collaborative robot. It requires a dedicated work area that
prevents personnel from coming into contact with the robot during operation.
The normal and intended use of these robots does not create hazards. The design and con-
struction of Viper robots was per the relevant requirements of IEC 60204-1.
These robots are for use in parts assembly and material handling for payloads up to 5 kg. See
Technical Specifications on page 107 for complete specifications. Refer to the
Robot Safety Guide
(Cat. No. I590)
for details on the intended use of OMRON robots.
Never use these robots in the following situations.
l
In the presence of ionizing or non-ionizing radiation
l
In hazardous environments with explosive gas or oil mist
l
In medical or life-saving applications
l
In residential applications
l
Where there are any acidic, alkaline, or other corrosive gases
l
Where there is sulfuric or other types of cutting or grinding oil
l
Where there are any large-sized inverters, high output/high frequency transmitters, large
contractors, welders, or other sources of electrical noise
l
Where there are shavings from metal processing, or other conductive material, being
produced
l
Where it may be directly exposed to water, oil, or cutting chips
l
Without performing a risk assessment
NOTE:
Any machining oil used around the robot must be compatible with NBR
(nitrile) and a polyurethane resin paint.
