[boostedengineering]

Hi,

I'm working with an ABB 6650-125/3.2 robot equipped with a turntable, and I'm running into a singularity issue. The robot controller reports that the robot is getting too close to a singularity, but I can't visually identify any position that seems problematic.

The singularity error in this program occurs when RoboDK has the turntable at 529,051 degrees. I've experimented with several different orientations of the spindle both closer and further away from the base, which sometimes alleviate the issue, but it's not a consistent fix typically having me restart the project multiple times to get it to complete without errors.

Is there something I can do in the singularity settings in the Motion tab under Options?

I've attached a sample of the station where the error occurs for reference.

[boostedengineering]

Just an update for this, when disabling "Smart Optimization" and using the Auto Comp. for the turntable, the robot doesn't run into a singularity issue, but when the robot gets near the end of the toolpath when the tool changes its angle for clearance, the head begins to rotate around the Z-axis, even with 0 degrees of rotation around the Z axis allowed.

Any tips or ideas how I can better use the parameters in Smart Optimization to still let the other axes move with the turntable? I've been playing around with the numbers but haven't had luck with a suitable result yet.

[Sergei]

I would use the following optimization settings:

   

Does a program generated with these settings produce singularity states in a real robot?

[boostedengineering]

I'm not sure if it generates a singularity, but when I simulate it, the head still rotates as the tool follows the path, using the settings you used above, gets through maybe a 1/4 of a full rotation before it cannot continue.

UPDATE:

It seems it makes a difference when I set the drop down menu for "Keep pos." to "No Comp." even when the checkbox next to itwasn't checked. Now it appears normal in simulation and I will try to do a run tomorrow!

[boostedengineering]

I did a run today and so far no more issues!

RoboDK and its community is truly amazing. Thank you for the help!

[Albert]

Thank you for your feedback! We greatly appreciate it.