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Answered Singularity Avoidance

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Ezequielo Murillo

Hello Guys,

Can anyone here tell me how to disable singularity avoidance on my robot? It is enabled in my robot and may be causing a sudden change in motion for a pickup position.

Help is appreciated!

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  • Avatar
    Sarwat Anjum
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    Hi,

    To set Singularity enable or disable, you should Go to the Program-> Go to Program Detail Page-> PRESS F3 here comes the singularity avoidance settings.



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    Toby cooke
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    Ezequielo Murillo

    You can disable singularity option with this system variable. 

    $PARAM_GROUP[1].$snglr ty_stp - FALSE

    So Robot will not stop near the singularity point .

     

     

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  • Avatar
    Ezequielo Murillo
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    That is great! Thank you guys!

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