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188791-1
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Troubleshooting and Support
Smart Series HC10DT
Collaborative Robot
Robot Behavior near a Singularity
With collaborative operation enabled, the behavior of the robot near a
singularity is limited to single axis moves (i.e. no move(s) that involve
simultaneous motion of multiple axes).
An attempt to operate the multiple robot axes simultaneously, in any
operation mode, results in alarm 6002 “NEAR SINGULARITY (PFL).”
HCxx and HCxxDT have the following singularities.
• Singularity 1: The U-axis is at an angle of 0° ±15°.
• Singularity 2: The U-axis is at an angle of 180° ±15°.
• Singularity 3: The rotation center of the B-axis (P-point) is near the
vertical line of the S-axis (within 300 mm).
• Singularity 4: The B-axis is at an angle within the range of 0° or
180° ±15°
Fig. 5
-
1: Example of Singularities
To avoid singularities, the motion limits of various Robot axes are
restricted to prevent it from entering singular positions. However, in rare
instances, the Robot can get into a singular position. Under these
conditions, the following actions should be taken:
• Reduce jogging speed and attempt to jog the Robot away from the
singular position.
• Use single axis moves (Joint Jogging or Move Axis buttons) and
reduced jogging speed to escape singularities.
If power and force limiting alarms occur repeatedly, the user should
disable PFL by turning OFF all active “External Force Monitor” settings to
jog the Robot away from its singular position. Once resolved, re-enable
the servos and restore PFL to its previous settings.
Singularity 1
Singularity 2
Singularity 3
Singularity 4
0°±15°
180°
±
15°
U-axis
P-point
≤
300mm
0°
±
15°
B-axis
