5Functions set with parameters
About singular point passage function 5-513
(7) If an interpolation for which the singular point passage function is specified is paused and the operation is
resumed after jog movement, the robot moves to the position at which the operation was paused according
to parameter RETPATH. If parameter RETPATH is set to 0 (invalid: do not return to the paused position),
the structure flag is not switched unless the motion path after resuming the operation does not pass a sin-
gular point as in the figure below. Thus, the posture of the robot at the completion of interpolation may be
different from the case where the operation is not paused.
(8) If the singular point passage function is specified, the operation speed may be lowered compared to nor-
mal linear interpolation, etc. Moreover, the singular point passage function may affect the execution speed
of programs as the function involves complicated processing. Specify the singular point passage function
only for interpolation instructions where the function is required.
NonFlip
Singular point
The structure flag changes from NonFlip to
Flip as the robot passes a singular point
NonFlip
Singular point
The structure flag remains NonFlip as the
robot does not pass a singular point
Pause
Jog
Resume
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