MC-Basic:robot.SINGULARITYMARGIN

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Limits the cartesian-space interpolation near singular points. Setting this value will add a safety envelope around singularpoints to/from where robot can not be moved in Cartesina space. This means the motion commands MOVES & CIRCLE can not be executed from/to these points. However simple–joint interpolated motion(MOVE) from to these points is possible. Where these points are dependes on robot kinematics type.

For example for SCARA, these points are where:
                 r > L1 +L2 -SingulartyMargin

Syntax

SingularityMargin

Availability

from 4.5.32

Type

Double

Range

0-MaxDouble

Units

mm

Default

0

Scope

Task, Terminal

Limitations

Modal only.Valid for robots only.

Examples

SingulartyMargin = 2