HW1484764
Safety Precautions
4-2
HW1484764
4.3. 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-HC10 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°.
Examples of singularities
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