Installation manual

Chapter 6 Programming
6-22
Around a singularity it is not always possible to make all avoidance motions. At a
singularity below, arm stops in error.
＜Wrist Singularity＞
Around the wrist singularity, in unstable areas, the velocity command sends an error
signal to the brake to stop.
＜Elbow Singularity＞ Exceeded arm length:
If E1-axis passes through 0[deg] (the length from S2 rotation origin to W1 rotation
origin: 930 [mm],) the RMRC control is not allowed to enter.
For RMRC control, when creating the current value and the target one, it is checked
whether arm length is exceeded or not.
When acquiring teach data other than PTP axis interpolation data, if arm length is
exceeded, data cannot be obtained.
In the error message, LENGTH is indicated as “Arm Length.”
・ERR_NOT_ENUGH：The arm length target value is exceeded more than 925 [mm].
In this case, in interpolation calculation, the target values are automatically
corrected. The arm does not stop.
・ERR_OVER900 ： During operation, when the arm length becomes 930 [mm],
the brake stops it.
・ERR_CANT_MOVE： If the arm length current value is exceeded more than 925
[mm], the RMRC control is not allowed to enter.
(Example) at the basic orientation, E1 = 0. The RMRC control is not allowed to
enter.
LENGTH (arm length)