I Hardware Installation Manual 2. Safety Functions and Interface
13
When encountered singularity：
When the robot reports the error code 0x09 or 0x14, it may be caused by singularity, please confirm
robot pose. If robot trajectory passes through inner Cylinders like picture as below, please refer to the
first point as below. If J4 and J6 with identical axis angle, please refer to the second point as below.
1. While robot arm send out a warning because of inner singularity, user can press the FREE bottom to
get rid of warning. Please reconsider the position of the points or change the trajectory between the
points. Please avoid the robot trajectory between the points cross the inner singularity.
When robot trajectory passes through inner singularity, it will send out a warning.
2. While robot arm send out a warning because of wrist axis singularity, user can press the FREE button
to get rid of warning. Try to move the robot along z-axis in tool base when J4 and J6 with identical axis
angle will cause wrist axis singularity. The picture below shows an example to prevent wrist axis
singularity.
An example to prevent wrist axis singularity
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