Definition
set_singularity_handling(mode)
Features
Allows the user to select a response policy when a path deviation occurs due to a singularity in task motion. The mode can be set as follows
-
Automatic avoidance mode(Default) : DR_AVOID
-
Path first mode : DR_TASK_STOP
-
Variable velocity mode : DR_VAR_VEL
The default setting is automatic avoidance mode, which reduces instability caused by singularity, but reduces path tracking accuracy. In case of path first setting, if there is possibility of instability due to singularity, a warning message is output after deceleration and then the corresponding task is terminated. In case of variable velocity mode setting, TCP velocity would be changed in singular region to reduce instability and maintain path tracking accuracy.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
mode |
int |
DR_AVOID |
DR_AVOID : Automatic avoidance mode DR_TASK_STOP : Deceleration/ Warning/ Task termination DR_VAR_VEL : Variable velocity mode |
Return
|
Value |
Description |
|---|---|
|
0 |
Success |
|
Negative value |
Error |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
P1 = posx(400,500,800,0,180,0)
P2 = posx(400,500,500,0,180,0)
P3 = posx(400,500,200,0,180,0)
set_singularity_handling (DR_AVOID) # Automatic avoidance mode for singularity
movel(P1, vel=10, acc=20)
set_velx(30)
set_accx(60)
set_singularity_handling(DR_TASK_STOP) # Task motion path first
movel(P2)
set_singularity_handling(DR_VAR_VEL) # Variable velocity mode for singularity
movel(P3)