I Hardware Installation Manual 2. Safety Functions and Interface
11
Inner singularity :
In the inner singularity, the wrist root point is close to cylindrical as shown in below. The definition of
cylindrical radius , is distance between center of J1 and J6. Once robot arm close the inner singularity,
robot arm will stop and sent out a warning.
The doffset is 122.3 mm.
Joint coordinate system and d
offset
definition.
Extended singularity:
In the outer singularity, the wrist root point is located at the limit of its work envelope. Namely, J3 is
almost in zero degree. Robot arm stop and send out a warning when end-effector beyond working
space.
To Next Page
Loading...
