11 Safety Function
11.5 Safety Caution
11-101
HW1485509
HW1485509
11.5.3 About the Behavior near Singularity
With collaborative operation enabled, the behavior of the manipulator near
singularity is limited to operating on an axis by axis basis.
An attempt to operate the manipulator along more than one axis at a time,
in any operation mode, results in AL.6002 “NEAR SINGULARITY (PFL)”.
The MOTOMAN-HCxx or MOTOMAN-HCxxDT has the following three
singularities.
Singularity 1: The U-axis is at an angle within the range of 0° or 180° ±15°.
Singularity 2: The rotation center of the B-axis (P-point) is near the vertical
line of the S-axis (within 300 mm).
Singularity 3: The B-axis is at an angle within the range of 0° or 180° ±15°.
Table 11-21: Example of Singularity Postures
Singularity 1 Singularity 2 Singularity 3
180°
±
15°
U-axis
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